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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/control.cpp
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@@ -401,6 +401,7 @@ void Ekf::controlExternalVisionFusion()
void Ekf::controlOpticalFlowFusion()
{
// TODO: These motion checks run all the time. Pull them out of this function
// Check if on ground motion is un-suitable for use of optical flow
if (!_control_status.flags.in_air) {
// When on ground check if the vehicle is being shaken or moved in a way that could cause a loss of navigation