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ekf2: fix direct state measurement update for suboptimal K case

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The duration of a unit test had to be increased because the incorrect
covariance matrix update, was making the unit test passing faster
(over-optimistic variance).
This commit is contained in:
bresch
2024-03-20 14:13:49 +01:00
committed by Mathieu Bresciani
parent cb2bb2e098
commit 6d819343aa
3 changed files with 16 additions and 5 deletions
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src/modules/ekf2/test/test_EKF_initialization.cpp
+1 -1
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@@ -346,7 +346,7 @@ TEST_F(EkfInitializationTest, initializeWithTiltNotAtRest)
_ekf->set_vehicle_at_rest(false);
_sensor_simulator.simulateOrientation(quat_sim);
//_sensor_simulator.runSeconds(_init_tilt_period);
_sensor_simulator.runSeconds(7);
_sensor_simulator.runSeconds(10);
EXPECT_TRUE(_ekf->control_status_flags().tilt_align);