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ekf2: Make stuck detector optional

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Sverre Velten Rothmund
2023-11-07 11:57:19 +01:00
committed by Mathieu Bresciani
parent 3d16383bb4
commit 94d4dc85f8
3 changed files with 18 additions and 3 deletions
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src/modules/ekf2/test/test_SensorRangeFinder.cpp
+10 -2
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@@ -240,8 +240,16 @@ TEST_F(SensorRangeFinderTest, rangeStuck)
// THEN: the data should be marked as unhealthy
// because the sensor is "stuck"
EXPECT_FALSE(_range_finder.isDataHealthy());
EXPECT_FALSE(_range_finder.isHealthy());
if (_range_finder.isStuckDetectorEnabled()) {
EXPECT_FALSE(_range_finder.isDataHealthy());
EXPECT_FALSE(_range_finder.isHealthy());
} else {
// If stuck detector is disabled then the
// data should instantly be marked as healthy
EXPECT_TRUE(_range_finder.isDataHealthy());
EXPECT_TRUE(_range_finder.isHealthy());
}
// BUT WHEN: we continue to send samples but with changing distance
for (int i = 0; i < 2; i++) {