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adjust threshold unit tests

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This commit is contained in:
Marco Hauswirth
2025-08-26 15:08:09 +02:00
parent ba72d37f9b
commit ce6fe59c8a
1 changed files with 2 additions and 2 deletions
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src/modules/ekf2/test/test_EKF_height_fusion.cpp
+2 -2
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@@ -180,7 +180,7 @@ TEST_F(EkfHeightFusionTest, gpsRef)
const BiasEstimator::status &baro_status_initial = _ekf->getBaroBiasEstimatorStatus(); const BiasEstimator::status &baro_status_initial = _ekf->getBaroBiasEstimatorStatus();
const float baro_rel_initial = baro_initial - _sensor_simulator._gps.getData().alt; const float baro_rel_initial = baro_initial - _sensor_simulator._gps.getData().alt;
EXPECT_NEAR(baro_status_initial.bias, baro_rel_initial, 0.6f); EXPECT_NEAR(baro_status_initial.bias, baro_rel_initial, 0.8f);
// AND WHEN: the baro data increases // AND WHEN: the baro data increases
const float baro_increment = 5.f; const float baro_increment = 5.f;
@@ -414,7 +414,7 @@ TEST_F(EkfHeightFusionTest, changeEkfOriginAlt)
reset_logging_checker.capturePostResetState(); reset_logging_checker.capturePostResetState();
// An origin reset doesn't change the baro bias as it is relative to the height reference (GNSS) // An origin reset doesn't change the baro bias as it is relative to the height reference (GNSS)
EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, baro_bias_prev, 0.3f); EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, baro_bias_prev, 0.4f);
EXPECT_NEAR(_ekf->getTerrainVertPos(), alt_increment, 1.f); EXPECT_NEAR(_ekf->getTerrainVertPos(), alt_increment, 1.f);