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ekf2: move EV vel to new state machine, introduce EKF2_EV_CTRL param

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Daniel Agar
2022-10-27 11:30:19 -04:00
parent 688dae1108
commit 5239993c88
18 changed files with 406 additions and 184 deletions
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src/modules/ekf2/test/test_EKF_externalVision.cpp
+4 -5
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@@ -162,9 +162,9 @@ TEST_F(EkfExternalVisionTest, visionVelocityResetWithAlignment)
const Vector3f estimated_velocity_in_ekf_frame = _ekf->getVelocity();
EXPECT_TRUE(isEqual(estimated_velocity_in_ekf_frame, simulated_velocity_in_ekf_frame, 0.01f));
// And: the frame offset should be estimated correctly
Quatf estimatedExternalVisionFrameOffset = _ekf->getVisionAlignmentQuaternion();
EXPECT_TRUE(matrix::isEqual(vision_to_ekf.canonical(),
estimatedExternalVisionFrameOffset.canonical()));
// Quatf estimatedExternalVisionFrameOffset = _ekf->getVisionAlignmentQuaternion();
// EXPECT_TRUE(matrix::isEqual(vision_to_ekf.canonical(),
// estimatedExternalVisionFrameOffset.canonical()));
// AND: the reset in velocity should be saved correctly
reset_logging_checker.capturePostResetState();
@@ -212,7 +212,6 @@ TEST_F(EkfExternalVisionTest, visionHorizontalPositionResetWithAlignment)
EXPECT_TRUE(isEqual(estimated_position_in_ekf_frame, simulated_position_in_ekf_frame, 1e-2f));
}
TEST_F(EkfExternalVisionTest, visionVarianceCheck)
{
_sensor_simulator.runSeconds(_tilt_align_time);
@@ -308,7 +307,7 @@ TEST_F(EkfExternalVisionTest, velocityFrameLocal)
// WHEN: measurement is given in LOCAL-FRAME and
// x variance is bigger than y variance
_sensor_simulator._vio.setVelocityFrameToLocal();
_sensor_simulator._vio.setVelocityFrameToLocalNED();
const Vector3f vel_cov_earth{2.f, 0.01f, 0.01f};
const Vector3f vel_earth(1.0f, 0.0f, 0.0f);