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adjust IMU falling detection baro-range unittest

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This commit is contained in:
Marco Hauswirth
2025-03-10 09:46:07 +01:00
parent a97cc72791
commit f89f73cf37
1 changed files with 2 additions and 1 deletions
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src/modules/ekf2/test/test_EKF_accelerometer.cpp
+2 -1
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@@ -192,12 +192,13 @@ TEST_F(EkfAccelerometerTest, imuFallingDetectionBaroRange)
_sensor_simulator.runSeconds(5);
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
// AND: an accelerometer with a really large Z bias
const float bias = CONSTANTS_ONE_G;
_sensor_simulator._imu.setAccelData(Vector3f(0.f, 0.f, -CONSTANTS_ONE_G + bias));
_sensor_simulator.runSeconds(2);
_sensor_simulator._imu.setAccelClipping(false, false, true);
_sensor_simulator.runSeconds(2);
// THEN: the bad vertical is detected because both sources agree
EXPECT_TRUE(_ekf->fault_status_flags().bad_acc_vertical);