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EKF: allow initialising without mag depending on configuration

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- reduce initial number of required mag and baro samples before init
This commit is contained in:
Daniel Agar
2020-11-02 17:13:14 -05:00
committed by Paul Riseborough
parent 1237087d70
commit 398fe159ce
6 changed files with 762 additions and 760 deletions
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test/test_EKF_initialization.cpp
+3 -3
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@@ -94,9 +94,9 @@ class EkfInitializationTest : public ::testing::Test {
const Vector3f pos = _ekf->getPosition();
const Vector3f vel = _ekf->getVelocity();
EXPECT_TRUE(matrix::isEqual(pos, Vector3f{}, 0.001f))
EXPECT_TRUE(matrix::isEqual(pos, Vector3f{}, 0.002f))
<< "pos = " << pos(0) << ", " << pos(1) << ", " << pos(2);
EXPECT_TRUE(matrix::isEqual(vel, Vector3f{}, 0.002f))
EXPECT_TRUE(matrix::isEqual(vel, Vector3f{}, 0.003f))
<< "vel = " << vel(0) << ", " << vel(1) << ", " << vel(2);
}
@@ -105,7 +105,7 @@ class EkfInitializationTest : public ::testing::Test {
const Vector3f pos_var = _ekf->getPositionVariance();
const Vector3f vel_var = _ekf->getVelocityVariance();
const float pos_variance_limit = 0.2f;
const float pos_variance_limit = 0.1f;
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);