From 54e93c9bc647e3759e414e2ef08f688206d8ebf6 Mon Sep 17 00:00:00 2001 From: bresch Date: Wed, 12 Jan 2022 15:30:33 +0100 Subject: [PATCH] ekf_unit: reduce init period Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the varicances are still large enough. --- src/modules/ekf2/test/test_EKF_initialization.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/test/test_EKF_initialization.cpp b/src/modules/ekf2/test/test_EKF_initialization.cpp index 0758bc96cb..0ed20f7e7a 100644 --- a/src/modules/ekf2/test/test_EKF_initialization.cpp +++ b/src/modules/ekf2/test/test_EKF_initialization.cpp @@ -50,7 +50,7 @@ public: SensorSimulator _sensor_simulator; EkfWrapper _ekf_wrapper; - const float _init_tilt_period = 1.0; // seconds + const float _init_tilt_period = 0.3f; // seconds // GTests is calling this void SetUp() override