fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2-test: add flow unit test for negative distance

Browse Source
This commit is contained in:
bresch 2025-03-20 16:19:13 +01:00 committed by Mathieu Bresciani
parent ddb9a5d0b9
commit 82ea544e8c
1 changed files with 19 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
src/modules/ekf2/test/test_EKF_flow_generated.cpp
View File

@ -71,3 +71,22 @@ TEST(FlowGenerated, distBottom0y)
sym::ComputeFlowYInnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var, &H);
EXPECT_GT(innov_var, 1e12);
}
TEST(FlowGenerated, distBottomNeg)
{
// GIVEN: a small negative distance to the ground (singularity)
StateSample state{};
state.quat_nominal = Quatf();
state.pos(2) = 1e-3f;
const float R = sq(radians(sq(0.5f)));
SquareMatrixState P = createRandomCovarianceMatrix();
VectorState H;
Vector2f innov_var;
sym::ComputeFlowXyInnovVarAndHx(state.vector(), P, R, FLT_EPSILON, &innov_var, &H);
EXPECT_GT(innov_var(0), 1e6);
EXPECT_GT(innov_var(1), 1e6);
sym::ComputeFlowYInnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var(1), &H);
EXPECT_GT(innov_var(1), 1e6);
}