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Interface: output vector quantities by "return-by-value"

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This commit is contained in:
kamilritz
2020-03-30 13:07:00 +02:00
committed by Mathieu Bresciani
parent 72d8f91b4d
commit 2fa43419d2
16 changed files with 126 additions and 233 deletions
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test/test_EKF_airspeed.cpp
+4 -4
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@@ -88,9 +88,9 @@ TEST_F(EkfAirspeedTest, testWindVelocityEstimation)
EXPECT_TRUE(_ekf_wrapper.isWindVelocityEstimated());
const Vector3f vel = _ekf_wrapper.getVelocity();
const Vector2f vel_wind_earth = _ekf_wrapper.getWindVelocity();
const float height_before_pressure_correction = _ekf_wrapper.getPosition()(2);
const Vector3f vel = _ekf->getVelocity();
const Vector2f vel_wind_earth = _ekf->getWindVelocity();
const float height_before_pressure_correction = _ekf->getPosition()(2);
const Dcmf R_to_earth_sim(_quat_sim);
EXPECT_TRUE(matrix::isEqual(vel, simulated_velocity_earth));
@@ -108,7 +108,7 @@ TEST_F(EkfAirspeedTest, testWindVelocityEstimation)
_sensor_simulator.runSeconds(20);
const float height_after_pressure_correction = _ekf_wrapper.getPosition()(2);
const float height_after_pressure_correction = _ekf->getPosition()(2);
// height increase means that state z decrease due to z axis pointing down
const float expected_height_after_pressure_correction = height_before_pressure_correction -
expected_height_difference;