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15 Commits

Author SHA1 Message Date
bresch
f7c687e433 GNSS yaw unit test: test fallback to non yaw aiding mode 2021-05-12 08:33:07 +10:00
Mathieu Bresciani
18f334f4db
flow: add unit test for yaw motion (#950) 2020-12-25 09:47:14 +01:00
Daniel Agar
1541e4b414
EKF: update control status and fault status getters 
- the fault status union exceeded 16 bits, but the getter was get_filter_fault_status(uint16_t *val)
 2020-12-10 09:13:12 -05:00
Daniel Agar
03cfcb903e
EKF: RingBuffer minor improvements 
- allocate IMU and output buffers on construction according to defaults
 - determine buffer max time delay based on configuration parameters
 - reorder flowSample and extVisionSample to minimize padding
 - adjust parameter defaults to match PX4-Autopilot
 2020-12-03 20:48:51 -05:00
bresch
51cd63d626 GPS Yaw: fall back to other yaw aiding source in case of bad data 
If the user selects GPS yaw fusion but that there is no GPS yaw data in
the GPS message or if the fusion is rejected for some time, the GPS yaw
data is declared faulty and the fusion is stopped to allow an other
source of yaw aiding to start.
 2020-06-23 08:43:48 +02:00
bresch
821e1fa8fc terrain_estimator: add unit tests 2020-06-05 20:44:30 +02:00
Mathieu Bresciani
b024cdd282
unit test: check that the accel bias is only learned when observable (#827) 2020-05-25 11:10:01 +02:00
kamilritz
39c09b8092 add basic gps yaw fusion test 2020-05-20 08:52:52 +02:00
kamilritz
2fa43419d2 Interface: output vector quantities by "return-by-value" 2020-03-30 13:07:00 +02:00
kritz
ee859e092a Robustify timestamp checks (#729) 
* Robustify timestamp checks

* Remove lowerbound on sensor timestamp

* Add tests for fusion timeouts

* Inline and const time check functions

* Rename dead_reckoning time variable
 2020-01-28 20:33:16 +11:00
kamilritz
b51ea4fe39 Test dynamic pressure compensation 
(cherry picked from commit b3d9334b5abe02f1d123519cfc74a875225eb0bd)
 2020-01-21 10:09:48 +03:00
kamilritz
5b02310f43 Test Airspeed fusion 2020-01-14 15:16:25 +03:00
kamilritz
1b0e137b8a Test external vision 2020-01-08 14:36:03 +01:00
kamilritz
7d3814b1d8 Add orientation initialization tests 2019-12-18 09:46:32 +01:00
kritz
532c9abd4a Expand test framework and test cases (#685) 
* Fix comment

* Ekf wrapper for testing

Add utility function for accessing information in the ekf object

* Add step function for Gps sensor

* Add RangeFinder and Flow to simulated sensors

* Add first fusion logic tests

* Add units to function name

* Use EXPECT_TRUE

* Adding missing qualifiers

* Improve EXPECT_ calls

* Improve naming
 2019-12-17 11:35:45 +01:00