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SensorRangeFinder: add distBottom function to get the vertical distance

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bresch
2020-04-03 09:00:19 +02:00
committed by Mathieu Bresciani
parent a998da1781
commit 572ad2df0a
5 changed files with 26 additions and 6 deletions
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test/test_SensorRangeFinder.cpp
+17
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@@ -297,3 +297,20 @@ TEST_F(SensorRangeFinderTest, continuity)
EXPECT_TRUE(_range_finder.isDataHealthy());
EXPECT_TRUE(_range_finder.isHealthy());
}
TEST_F(SensorRangeFinderTest, distBottom)
{
const Dcmf attitude{Eulerf(0.f, 0.f, 0.f)};
rangeSample sample{};
sample.rng = 1.f;
sample.time_us = 1e6;
sample.quality = 9;
_range_finder.setSample(sample);
_range_finder.runChecks(sample.time_us, attitude);
EXPECT_FLOAT_EQ(_range_finder.getDistBottom(), sample.rng);
const Dcmf attitude20{Eulerf(-0.35f, 0.f, 0.f)};
_range_finder.runChecks(sample.time_us, attitude20);
EXPECT_FLOAT_EQ(_range_finder.getDistBottom(), sample.rng * cosf(-0.35));
}