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Expand test framework and test cases (#685)

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* Fix comment

* Ekf wrapper for testing

Add utility function for accessing information in the ekf object

* Add step function for Gps sensor

* Add RangeFinder and Flow to simulated sensors

* Add first fusion logic tests

* Add units to function name

* Use EXPECT_TRUE

* Adding missing qualifiers

* Improve EXPECT_ calls

* Improve naming
This commit is contained in:
kritz
2019-12-17 11:35:45 +01:00
committed by Mathieu Bresciani
parent 6c25ac5731
commit 532c9abd4a
23 changed files with 679 additions and 115 deletions
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EKF/common.h
+1 -1
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@@ -76,7 +76,7 @@ struct flow_message {
uint8_t quality; ///< Quality of Flow data
Vector2f flowdata; ///< Optical flow rates about the X and Y body axes (rad/sec)
Vector3f gyrodata; ///< Gyro rates about the XYZ body axes (rad/sec)
uint32_t dt; ///< integration time of flow samples (sec)
uint32_t dt; ///< integration time of flow samples (microseconds)
};
struct ext_vision_message {