6 Commits

Author	SHA1	Message	Date
Paul Riseborough	8a9d961f0d	EKF: Improve covariance prediction stability (#795) ... * EKF: Improve covariance prediction stability Eliminates collapse of vertical velocity state variance due to rounding errors that can occur under some operating conditions. * EKF: Fix typo * test: Fix initialisation test cases Provide sufficient time for variances to stabilise and fix calculation of reference quaternion for alignment. * test: Allow for accumulated rounding error in IMU sampling test * test: Allow sufficient time for quaternion variances to reduce after initial alignment * test: Increase allowance for tilt alignment delay and inertial nav errors * test: Increase allowance for tilt alignment delay and inertial nav errors * adpat reset velocity test * test: update change indication file * test: Adjust tests to handle alignment time and prediction errors * README.md: Add documentation for change indicator test	2020-04-23 14:38:09 +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	f3d790a664	Update optical flow interface	2020-01-24 16:18:42 +03:00
kamilritz	1b0e137b8a	Test external vision	2020-01-08 14:36:03 +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