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GNSS yaw tests: adjust timing

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the starting condition needs more than 1 sample to determine if the data
comes regularly

the timeout on "no data" is defined by the fusion reset timeout
parameter (7 seconds)
This commit is contained in:
bresch
2021-05-04 11:34:05 +02:00
committed by Paul Riseborough
parent 51197a5d82
commit 7a11871566
1 changed files with 2 additions and 2 deletions
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test/test_EKF_gps_yaw.cpp
+2 -2
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@@ -105,7 +105,7 @@ TEST_F(EkfGpsHeadingTest, fusionStartWithReset)
_sensor_simulator._gps.setYaw(gps_heading); _sensor_simulator._gps.setYaw(gps_heading);
_ekf_wrapper.enableGpsHeadingFusion(); _ekf_wrapper.enableGpsHeadingFusion();
const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter(); const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter();
_sensor_simulator.runSeconds(0.2); _sensor_simulator.runSeconds(0.4);
// THEN: GPS heading fusion should have started; // THEN: GPS heading fusion should have started;
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion()); EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion());
@@ -203,7 +203,7 @@ TEST_F(EkfGpsHeadingTest, fallBackToMag)
// BUT WHEN: the GPS yaw is suddenly invalid // BUT WHEN: the GPS yaw is suddenly invalid
gps_heading = NAN; gps_heading = NAN;
_sensor_simulator._gps.setYaw(gps_heading); _sensor_simulator._gps.setYaw(gps_heading);
_sensor_simulator.runSeconds(6); _sensor_simulator.runSeconds(7.5);
// THEN: after a few seconds, the fusion should stop and // THEN: after a few seconds, the fusion should stop and
// the estimator should fall back to mag fusion // the estimator should fall back to mag fusion