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fix unit tests

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bresch 2021-03-03 11:48:48 +01:00 committed by Paul Riseborough
parent 5d441d65e1
commit 93dd4e5754
2 changed files with 5 additions and 2 deletions
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2
test/test_EKF_basics.cpp
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@ -66,7 +66,7 @@ class EkfBasicsTest : public ::testing::Test {
SensorSimulator _sensor_simulator;
// Duration of initalization with only providing baro,mag and IMU
const uint32_t _init_duration_s{7};
const uint32_t _init_duration_s{4};
protected:
double _latitude {0.0};

5
test/test_EKF_gps_yaw.cpp
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@ -61,6 +61,7 @@ class EkfGpsHeadingTest : public ::testing::Test {
void SetUp() override
{
_ekf->init(0);
_sensor_simulator.runSeconds(_init_duration_s);
_sensor_simulator._gps.setYaw(NAN);
_sensor_simulator.runSeconds(2);
_ekf_wrapper.enableGpsFusion();
@ -68,6 +69,8 @@ class EkfGpsHeadingTest : public ::testing::Test {
_sensor_simulator.startGps();
_sensor_simulator.runSeconds(11);
}
const uint32_t _init_duration_s{4};
};
void EkfGpsHeadingTest::runConvergenceScenario(float yaw_offset_rad, float antenna_offset_rad)
@ -137,7 +140,7 @@ TEST_F(EkfGpsHeadingTest, yawConvergence)
// AND WHEN: the the measurement changes
gps_heading += math::radians(2.f);
_sensor_simulator._gps.setYaw(gps_heading);
_sensor_simulator.runSeconds(6);
_sensor_simulator.runSeconds(10);
// THEN: the estimate slowly converges to the new measurement
// Note that the process is slow, because the gyro did not detect any motion