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ekf2: delete redundant aid src status getters

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This commit is contained in:
Daniel Agar
2023-10-18 15:21:51 -04:00
committed by GitHub
parent bdaf0acfca
commit 408c30de13
7 changed files with 275 additions and 356 deletions
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src/modules/ekf2/test/test_EKF_basics.cpp
+13 -24
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@@ -245,22 +245,16 @@ TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_initialized)
_sensor_simulator.runSeconds(1);
float hpos = 0.f;
float vpos = 0.f;
float hvel = 0.f;
float vvel = 0.f;
float baro_vpos = 0.f;
// After the change of origin, the pos and vel innovations should stay small
_ekf->getGpsVelPosInnovRatio(hvel, vvel, hpos, vpos);
_ekf->getBaroHgtInnovRatio(baro_vpos);
EXPECT_NEAR(_ekf->aid_src_gnss_pos().test_ratio[0], 0.f, 0.05f);
EXPECT_NEAR(_ekf->aid_src_gnss_pos().test_ratio[1], 0.f, 0.05f);
EXPECT_NEAR(_ekf->aid_src_gnss_hgt().test_ratio, 0.f, 0.05f);
EXPECT_NEAR(hpos, 0.f, 0.05f);
EXPECT_NEAR(vpos, 0.f, 0.05f);
EXPECT_NEAR(baro_vpos, 0.f, 0.05f);
EXPECT_NEAR(_ekf->aid_src_baro_hgt().test_ratio, 0.f, 0.05f);
EXPECT_NEAR(hvel, 0.f, 0.02f);
EXPECT_NEAR(vvel, 0.f, 0.02f);
EXPECT_NEAR(_ekf->aid_src_gnss_vel().test_ratio[0], 0.f, 0.02f);
EXPECT_NEAR(_ekf->aid_src_gnss_vel().test_ratio[1], 0.f, 0.02f);
EXPECT_NEAR(_ekf->aid_src_gnss_vel().test_ratio[2], 0.f, 0.02f);
}
TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_uninitialized)
@@ -291,19 +285,14 @@ TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_uninitialized)
_sensor_simulator.runSeconds(1);
float hpos = 0.f;
float vpos = 0.f;
float hvel = 0.f;
float vvel = 0.f;
// After the change of origin, the pos and vel innovations should stay small
_ekf->getGpsVelPosInnovRatio(hvel, vvel, hpos, vpos);
EXPECT_NEAR(_ekf->aid_src_gnss_pos().test_ratio[0], 0.f, 0.05f);
EXPECT_NEAR(_ekf->aid_src_gnss_pos().test_ratio[1], 0.f, 0.05f);
EXPECT_NEAR(_ekf->aid_src_gnss_hgt().test_ratio, 0.f, 0.05f);
EXPECT_NEAR(hpos, 0.f, 0.05f);
EXPECT_NEAR(vpos, 0.f, 0.05f);
EXPECT_NEAR(hvel, 0.f, 0.02f);
EXPECT_NEAR(vvel, 0.f, 0.02f);
EXPECT_NEAR(_ekf->aid_src_gnss_vel().test_ratio[0], 0.f, 0.02f);
EXPECT_NEAR(_ekf->aid_src_gnss_vel().test_ratio[1], 0.f, 0.02f);
EXPECT_NEAR(_ekf->aid_src_gnss_vel().test_ratio[2], 0.f, 0.02f);
}
TEST_F(EkfBasicsTest, global_position_from_local_ev)
src/modules/ekf2/test/test_EKF_gps.cpp
+1 -2
View File
@@ -222,8 +222,7 @@ TEST_F(EkfGpsTest, altitudeDrift)
_sensor_simulator.runSeconds(dt);
}
float baro_innov;
_ekf->getBaroHgtInnov(baro_innov);
float baro_innov = _ekf->aid_src_baro_hgt().innovation;
BiasEstimator::status status = _ekf->getBaroBiasEstimatorStatus();
printf("baro innov = %f\n", (double)baro_innov);
src/modules/ekf2/test/test_EKF_height_fusion.cpp
+2 -7
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@@ -198,13 +198,8 @@ TEST_F(EkfHeightFusionTest, gpsRef)
EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, baro_initial + baro_increment - gps_step, 0.2f);
// and the innovations are close to zero
float baro_innov = NAN;
_ekf->getBaroHgtInnov(baro_innov);
EXPECT_NEAR(baro_innov, 0.f, 0.2f);
float rng_innov = NAN;
_ekf->getRngHgtInnov(rng_innov);
EXPECT_NEAR(rng_innov, 0.f, 0.2f);
EXPECT_NEAR(_ekf->aid_src_baro_hgt().innovation, 0.f, 0.2f);
EXPECT_NEAR(_ekf->aid_src_rng_hgt().innovation, 0.f, 0.2f);
}
TEST_F(EkfHeightFusionTest, baroRefFailOver)