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GNSS yaw unit test: test fallback to non yaw aiding mode

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bresch
2021-05-11 17:38:41 +02:00
committed by Paul Riseborough
parent a4fe2b1e72
commit f7c687e433
3 changed files with 17 additions and 0 deletions
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test/sensor_simulator/ekf_wrapper.cpp
+5
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@@ -165,6 +165,11 @@ bool EkfWrapper::isIntendingMag3DFusion() const
return _ekf->control_status_flags().mag_3D;
}
void EkfWrapper::setMagFuseTypeNone()
{
_ekf_params->mag_fusion_type = MAG_FUSE_TYPE_NONE;
}
bool EkfWrapper::isWindVelocityEstimated() const
{
return _ekf->control_status_flags().wind;