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Test external vision

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kamilritz
2020-01-08 14:36:03 +01:00
committed by Mathieu Bresciani
parent 84dcb32bd8
commit 1b0e137b8a
10 changed files with 388 additions and 10 deletions
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test/test_EKF_fusionLogic.cpp
+4 -4
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@@ -32,7 +32,7 @@
****************************************************************************/
/**
* Feeds Ekf with Imu data
* Test the fusion start and stop logic
* @author Kamil Ritz <ka.ritz@hotmail.com>
*/
@@ -58,7 +58,7 @@ class EkfFusionLogicTest : public ::testing::Test {
void SetUp() override
{
_ekf->init(0);
_sensor_simulator.runSeconds(5);
_sensor_simulator.runSeconds(2);
}
// Use this method to clean up any memory, network etc. after each test
@@ -74,7 +74,7 @@ TEST_F(EkfFusionLogicTest, doGpsFusion)
// WHEN: we enable GPS fusion and we send good quality gps data for 11s
_ekf_wrapper.enableGpsFusion();
_sensor_simulator.startGps();
_sensor_simulator.runSeconds(15);
_sensor_simulator.runSeconds(11);
// THEN: EKF should intend to fuse GPS
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
@@ -151,7 +151,7 @@ TEST_F(EkfFusionLogicTest, doFlowFusion)
// WHEN: sending flow data without having the flow fusion enabled
// flow measurement fusion should not be intended.
_sensor_simulator.startFlow();
_sensor_simulator.runSeconds(3);
_sensor_simulator.runSeconds(4);
// THEN: EKF should intend to fuse flow measurements
EXPECT_FALSE(_ekf_wrapper.isIntendingFlowFusion());