fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-14 18:57:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

adjust IMU falling detection baro-range unittest

Browse Source
This commit is contained in:
Marco Hauswirth
2025-03-10 09:46:07 +01:00
committed by Jacob Dahl
parent aa00bdcd5d
commit 5e6c36a424
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/test/test_EKF_accelerometer.cpp
+2 -1
View File
@@ -192,12 +192,13 @@ TEST_F(EkfAccelerometerTest, imuFallingDetectionBaroRange)
_sensor_simulator.runSeconds(5);
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
// AND: an accelerometer with a really large Z bias
const float bias = CONSTANTS_ONE_G;
_sensor_simulator._imu.setAccelData(Vector3f(0.f, 0.f, -CONSTANTS_ONE_G + bias));
_sensor_simulator.runSeconds(2);
_sensor_simulator._imu.setAccelClipping(false, false, true);
_sensor_simulator.runSeconds(2);
// THEN: the bad vertical is detected because both sources agree
EXPECT_TRUE(_ekf->fault_status_flags().bad_acc_vertical);