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ekf2: test external vision adjustments after lowering fake position fusion variance

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This commit is contained in:
Daniel Agar
2022-02-04 21:48:32 -05:00
parent 6b1750d8be
commit 893cdf8f38
1 changed files with 3 additions and 3 deletions
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src/modules/ekf2/test/test_EKF_externalVision.cpp
+3 -3
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@@ -283,7 +283,7 @@ TEST_F(EkfExternalVisionTest, velocityFrameBody)
// THEN: As the drone is turned 90 degrees, velocity variance
// along local y axis is expected to be bigger
const Vector3f velVar_new = _ekf->getVelocityVariance();
EXPECT_NEAR(velVar_new(1) / velVar_new(0), 80.f, 15.f);
EXPECT_NEAR(velVar_new(1) / velVar_new(0), 40.f, 15.f);
const Vector3f vel_earth_est = _ekf->getVelocity();
EXPECT_NEAR(vel_earth_est(0), 0.0f, 0.1f);
@@ -319,7 +319,7 @@ TEST_F(EkfExternalVisionTest, velocityFrameLocal)
// THEN: Independently on drones heading, velocity variance
// along local x axis is expected to be bigger
const Vector3f velVar_new = _ekf->getVelocityVariance();
EXPECT_NEAR(velVar_new(0) / velVar_new(1), 80.f, 15.f);
EXPECT_NEAR(velVar_new(0) / velVar_new(1), 40.f, 15.f);
const Vector3f vel_earth_est = _ekf->getVelocity();
EXPECT_NEAR(vel_earth_est(0), 1.0f, 0.1f);
@@ -357,7 +357,7 @@ TEST_F(EkfExternalVisionTest, positionFrameLocal)
// WHEN: the measurement in EV FRD frame changes
pos_earth = Vector3f(0.3f, 0.0f, 0.0f);
_sensor_simulator._vio.setPosition(pos_earth);
_sensor_simulator.runSeconds(4);
_sensor_simulator.runSeconds(8);
// THEN: the position should converge to the EV position
// Note that the estimate is now in the EV frame because it is