fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-09 19:38:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2_test: rename VisionHeight -> ExternalVisionHeight

Browse Source
This commit is contained in:
bresch
2022-08-24 09:16:11 -04:00
committed by Daniel Agar
parent 82ec7a495a
commit 66ce1a002b
3 changed files with 11 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
+4 -4
View File
@@ -70,22 +70,22 @@ bool EkfWrapper::isIntendingRangeHeightFusion() const
return _ekf->control_status_flags().rng_hgt;
}
void EkfWrapper::setVisionHeightRef()
void EkfWrapper::setExternalVisionHeightRef()
{
_ekf_params->height_sensor_ref |= HeightSensorRef::EV;
}
void EkfWrapper::enableVisionHeightFusion()
void EkfWrapper::enableExternalVisionHeightFusion()
{
_ekf_params->fusion_mode |= SensorFusionMask::USE_EXT_VIS_HGT;
}
void EkfWrapper::disableVisionHeightFusion()
void EkfWrapper::disableExternalVisionHeightFusion()
{
_ekf_params->fusion_mode &= ~SensorFusionMask::USE_EXT_VIS_HGT;
}
bool EkfWrapper::isIntendingVisionHeightFusion() const
bool EkfWrapper::isIntendingExternalVisionHeightFusion() const
{
return _ekf->control_status_flags().ev_hgt;
}
src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h
+4 -4
View File
@@ -64,10 +64,10 @@ public:
void disableRangeHeightFusion();
bool isIntendingRangeHeightFusion() const;
void setVisionHeightRef();
void enableVisionHeightFusion();
void disableVisionHeightFusion();
bool isIntendingVisionHeightFusion() const;
void setExternalVisionHeightRef();
void enableExternalVisionHeightFusion();
void disableExternalVisionHeightFusion();
bool isIntendingExternalVisionHeightFusion() const;
void enableGpsFusion();
void disableGpsFusion();
src/modules/ekf2/test/test_EKF_fusionLogic.cpp
+3 -3
View File
@@ -465,12 +465,12 @@ TEST_F(EkfFusionLogicTest, doRangeHeightFusion)
TEST_F(EkfFusionLogicTest, doVisionHeightFusion)
{
// WHEN: commanding vision height and sending vision data
_ekf_wrapper.enableVisionHeightFusion();
_ekf_wrapper.enableExternalVisionHeightFusion();
_sensor_simulator.startExternalVision();
_sensor_simulator.runSeconds(2);
// THEN: EKF should intend to fuse vision height
EXPECT_TRUE(_ekf_wrapper.isIntendingVisionHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionHeightFusion());
// WHEN: stop sending vision data
_sensor_simulator.stopExternalVision();
@@ -478,6 +478,6 @@ TEST_F(EkfFusionLogicTest, doVisionHeightFusion)
// THEN: EKF should stop to intend to use vision height
EXPECT_FALSE(_ekf_wrapper.isIntendingVisionHeightFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
}