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terrain_estimator: add unit tests

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bresch
2020-06-03 11:24:26 +02:00
committed by Mathieu Bresciani
parent aa96fa6d9e
commit 821e1fa8fc
6 changed files with 223 additions and 4 deletions
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test/test_EKF_flow.cpp
+3 -3
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@@ -32,7 +32,7 @@
****************************************************************************/
/**
* Test the gps fusion
* Test the flow fusion
* @author Kamil Ritz <ka.ritz@hotmail.com>
*/
@@ -89,8 +89,8 @@ TEST_F(EkfFlowTest, resetToFlowVelocityInAir)
const Vector2f simulated_horz_velocity(0.5f, -0.2f);
flowSample flow_sample = _sensor_simulator._flow.dataAtRest();
flow_sample.flow_xy_rad =
Vector2f(- simulated_horz_velocity(1) * flow_sample.dt / estimated_distance_to_ground,
simulated_horz_velocity(0) * flow_sample.dt / estimated_distance_to_ground);
Vector2f( simulated_horz_velocity(1) * flow_sample.dt / estimated_distance_to_ground,
-simulated_horz_velocity(0) * flow_sample.dt / estimated_distance_to_ground);
_sensor_simulator._flow.setData(flow_sample);
_ekf_wrapper.enableFlowFusion();
const float max_flow_rate = 5.f;