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rng height: reset to baro using common logic

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The failsafe from rng height to baro height should occur after a reset
to baro triggered by the controlHeightSensorTimeouts function and not in
the fusion selector.

Until now, the EKF was fusing baro measurements between rng updates if
the range finder ODR was slower than the EKF update rate. This is not
the case anymore as the height reset occurs after 5 seconds.

The unit test has been extended to show this behavior.
This commit is contained in:
bresch
2021-01-06 11:53:52 +01:00
committed by Mathieu Bresciani
parent 03fed323ab
commit c212975abe
5 changed files with 33 additions and 12 deletions
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test/test_EKF_fusionLogic.cpp
+12 -3
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@@ -337,17 +337,26 @@ TEST_F(EkfFusionLogicTest, doRangeHeightFusion)
// WHEN: commanding range height and sending range data
_ekf_wrapper.setRangeHeight();
_sensor_simulator.startRangeFinder();
_sensor_simulator.runSeconds(2.5);
_sensor_simulator.runSeconds(2.5f);
// THEN: EKF should intend to fuse range height
EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
const float dt = 8e-3f;
for (int i = 0; i < 5; i++) {
_sensor_simulator.runSeconds(dt);
// THEN: EKF should intend to fuse range height, even if
// there is no new data at each EKF iteration (EKF rate > sensor rate)
EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
}
// WHEN: stop sending range data
_sensor_simulator.stopRangeFinder();
_sensor_simulator.runSeconds(2.5);
_sensor_simulator.runSeconds(5.1);
// THEN: EKF should stop to intend to use range height
// and fall back to baro height
EXPECT_FALSE(_ekf_wrapper.isIntendingRangeHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
}
TEST_F(EkfFusionLogicTest, doVisionHeightFusion)