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ekf2: consolidate GNSS yaw in gnss_yaw_control.cpp and fix naming (GPS->GNSS)

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Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2024-07-15 12:50:51 -04:00
committed by GitHub
co-authored by Mathieu Bresciani
parent 9d6c2baa90
commit 1cd7d54170
18 changed files with 144 additions and 146 deletions
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src/modules/ekf2/test/CMakeLists.txt
+1 -1
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@@ -45,7 +45,7 @@ px4_add_unit_gtest(SRC test_EKF_flow_generated.cpp LINKLIBS ecl_EKF ecl_sensor_s
px4_add_unit_gtest(SRC test_EKF_gyroscope.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
px4_add_unit_gtest(SRC test_EKF_fusionLogic.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper)
px4_add_unit_gtest(SRC test_EKF_gps.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper)
px4_add_unit_gtest(SRC test_EKF_gps_yaw.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
px4_add_unit_gtest(SRC test_EKF_gnss_yaw.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
px4_add_unit_gtest(SRC test_EKF_gnss_yaw_generated.cpp LINKLIBS ecl_EKF ecl_test_helper)
px4_add_unit_gtest(SRC test_EKF_height_fusion.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper)
px4_add_unit_gtest(SRC test_EKF_imuSampling.cpp LINKLIBS ecl_EKF ecl_sensor_sim)
src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
+1 -1
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@@ -132,7 +132,7 @@ void EkfWrapper::disableGpsHeadingFusion()
bool EkfWrapper::isIntendingGpsHeadingFusion() const
{
return _ekf->control_status_flags().gps_yaw;
return _ekf->control_status_flags().gnss_yaw;
}
void EkfWrapper::enableFlowFusion()
src/modules/ekf2/test/test_EKF_basics.cpp
+2 -2
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@@ -123,7 +123,7 @@ TEST_F(EkfBasicsTest, initialControlMode)
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_fault);
EXPECT_EQ(0, (int) _ekf->control_status_flags().gnd_effect);
EXPECT_EQ(0, (int) _ekf->control_status_flags().rng_stuck);
EXPECT_EQ(0, (int) _ekf->control_status_flags().gps_yaw);
EXPECT_EQ(0, (int) _ekf->control_status_flags().gnss_yaw);
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_aligned_in_flight);
EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_vel);
EXPECT_EQ(0, (int) _ekf->control_status_flags().synthetic_mag_z);
@@ -178,7 +178,7 @@ TEST_F(EkfBasicsTest, gpsFusion)
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_fault);
EXPECT_EQ(0, (int) _ekf->control_status_flags().gnd_effect);
EXPECT_EQ(0, (int) _ekf->control_status_flags().rng_stuck);
EXPECT_EQ(0, (int) _ekf->control_status_flags().gps_yaw);
EXPECT_EQ(0, (int) _ekf->control_status_flags().gnss_yaw);
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_aligned_in_flight);
EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_vel);
EXPECT_EQ(0, (int) _ekf->control_status_flags().synthetic_mag_z);
src/modules/ekf2/test/test_EKF_gps_yaw.cpp → src/modules/ekf2/test/test_EKF_gnss_yaw.cpp
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