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ekf2_test: add test case for accel clipping handling

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This commit is contained in:
bresch
2022-08-24 09:16:11 -04:00
committed by Daniel Agar
parent 375753eba8
commit 88ac5ea210
3 changed files with 40 additions and 0 deletions
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src/modules/ekf2/test/sensor_simulator/imu.cpp
+10
View File
@@ -22,6 +22,9 @@ void Imu::send(uint64_t time)
imu_sample.delta_ang = _gyro_data * imu_sample.delta_ang_dt;
imu_sample.delta_vel_dt = dt;
imu_sample.delta_vel = _accel_data * imu_sample.delta_vel_dt;
imu_sample.delta_vel_clipping[0] = _is_accel_clipping[0];
imu_sample.delta_vel_clipping[1] = _is_accel_clipping[1];
imu_sample.delta_vel_clipping[2] = _is_accel_clipping[2];
_ekf->setIMUData(imu_sample);
}
@@ -42,5 +45,12 @@ void Imu::setGyroData(const Vector3f &gyro)
_gyro_data = gyro;
}
void Imu::setAccelClipping(bool x, bool y, bool z)
{
_is_accel_clipping[0] = x;
_is_accel_clipping[1] = y;
_is_accel_clipping[2] = z;
}
} // namespace sensor
} // namespace sensor_simulator
src/modules/ekf2/test/sensor_simulator/imu.h
+2
View File
@@ -54,6 +54,7 @@ public:
void setData(const Vector3f &accel, const Vector3f &gyro);
void setAccelData(const Vector3f &accel);
void setGyroData(const Vector3f &gyro);
void setAccelClipping(bool x, bool y, bool z);
bool moving()
{
@@ -63,6 +64,7 @@ public:
private:
Vector3f _accel_data;
Vector3f _gyro_data;
bool _is_accel_clipping[3] {};
void send(uint64_t time) override;