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Height source vision: Fallback to rangefinder if available (#994)

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Eike
2021-03-31 14:24:38 +02:00
committed by GitHub
parent da06f25216
commit 5d34d7a24e
3 changed files with 31 additions and 5 deletions
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test/test_EKF_fusionLogic.cpp
+3 -2
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@@ -379,6 +379,7 @@ TEST_F(EkfFusionLogicTest, doVisionHeightFusion)
_sensor_simulator.runSeconds(12);
// THEN: EKF should stop to intend to use vision height
// TODO: This is not happening
EXPECT_TRUE(_ekf_wrapper.isIntendingVisionHeightFusion()); // TODO: Needs to change
EXPECT_FALSE(_ekf_wrapper.isIntendingVisionHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
}