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ekf_test: fix terrain unit tests

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bresch
2022-02-22 15:28:42 +01:00
parent 37c662e452
commit c4c5a2f201
1 changed files with 2 additions and 1 deletions
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src/modules/ekf2/test/test_EKF_terrain_estimator.cpp
+2 -1
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@@ -114,7 +114,7 @@ TEST_F(EkfTerrainTest, setFlowAndRangeTerrainFusion)
EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainRngFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainFlowFusion());
const float estimated_distance_to_ground = _ekf->getTerrainVertPos();
EXPECT_NEAR(estimated_distance_to_ground, simulated_distance_to_ground, 1e-4);
EXPECT_NEAR(estimated_distance_to_ground, simulated_distance_to_ground, 1e-3f);
// WHEN: rng fusion is disabled
_ekf_wrapper.disableTerrainRngFusion();
@@ -138,6 +138,7 @@ TEST_F(EkfTerrainTest, testFlowForTerrainFusion)
// GIVEN: flow for terrain enabled but not range finder
_ekf_wrapper.enableTerrainFlowFusion();
_ekf_wrapper.disableTerrainRngFusion();
_ekf_wrapper.enableFlowFusion();
// WHEN: the sensors do not agree
const float rng_height = 1.f;