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ekf_unit: reduce minimum vel/pos variance required after init

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Fake pos fusion has a low observation noise, making the vel/pos
variances reduce quickly.
This commit is contained in:
bresch
2022-01-12 15:33:08 +01:00
committed by Daniel Agar
parent 54e93c9bc6
commit 27607d470b
1 changed files with 2 additions and 2 deletions
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src/modules/ekf2/test/test_EKF_initialization.cpp
+2 -2
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@@ -106,12 +106,12 @@ public:
const Vector3f pos_var = _ekf->getPositionVariance();
const Vector3f vel_var = _ekf->getVelocityVariance();
const float pos_variance_limit = 0.1f;
const float pos_variance_limit = 0.01f; // Fake fusion obs var when at rest
EXPECT_TRUE(pos_var(0) > pos_variance_limit) << "pos_var(0)" << pos_var(0);
EXPECT_TRUE(pos_var(1) > pos_variance_limit) << "pos_var(1)" << pos_var(1);
EXPECT_TRUE(pos_var(2) > pos_variance_limit) << "pos_var(2)" << pos_var(2);
const float vel_variance_limit = 0.3f;
const float vel_variance_limit = 0.16f;
EXPECT_TRUE(vel_var(0) > vel_variance_limit) << "vel_var(0)" << vel_var(0);
EXPECT_TRUE(vel_var(1) > vel_variance_limit) << "vel_var(1)" << vel_var(1);
EXPECT_TRUE(vel_var(2) > vel_variance_limit) << "vel_var(2)" << vel_var(2);