From f89f73cf37467380db84eebeb85c7158b1876806 Mon Sep 17 00:00:00 2001 From: Marco Hauswirth Date: Mon, 10 Mar 2025 09:46:07 +0100 Subject: [PATCH] adjust IMU falling detection baro-range unittest --- src/modules/ekf2/test/test_EKF_accelerometer.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/ekf2/test/test_EKF_accelerometer.cpp b/src/modules/ekf2/test/test_EKF_accelerometer.cpp index 255f6597b3..8b5d02f2aa 100644 --- a/src/modules/ekf2/test/test_EKF_accelerometer.cpp +++ b/src/modules/ekf2/test/test_EKF_accelerometer.cpp @@ -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);