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improve unit tests for range fog detection

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2025-02-07 16:39:33 +03:00
committed by Marco Hauswirth
parent 8576b49e49
commit 35da86c85a
1 changed files with 2 additions and 2 deletions
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src/modules/ekf2/test/test_SensorRangeFinder.cpp
+2 -2
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@@ -354,14 +354,13 @@ TEST_F(SensorRangeFinderTest, blockedByFog)
const Dcmf attitude{Eulerf(0.f, 0.f, 0.f)}; const Dcmf attitude{Eulerf(0.f, 0.f, 0.f)};
const uint64_t dt_update_us = 10e3; const uint64_t dt_update_us = 10e3;
uint64_t dt_sensor_us = 3e5; uint64_t dt_sensor_us = 3e5;
uint64_t duration_us = 5e5; uint64_t duration_us = 2e6;
updateSensorAtRate(_good_sample, duration_us, dt_update_us, dt_sensor_us); updateSensorAtRate(_good_sample, duration_us, dt_update_us, dt_sensor_us);
// THEN: the data should be marked as healthy // THEN: the data should be marked as healthy
EXPECT_TRUE(_range_finder.isDataHealthy()); EXPECT_TRUE(_range_finder.isDataHealthy());
EXPECT_TRUE(_range_finder.isHealthy()); EXPECT_TRUE(_range_finder.isHealthy());
// WHEN: sensor is then blocked by fog // WHEN: sensor is then blocked by fog
// range jumps to value below 2m // range jumps to value below 2m
uint64_t t_now_us = _range_finder.getSampleAddress()->time_us; uint64_t t_now_us = _range_finder.getSampleAddress()->time_us;
@@ -374,6 +373,7 @@ TEST_F(SensorRangeFinderTest, blockedByFog)
// WHEN: the sensor is not blocked by fog anymore // WHEN: the sensor is not blocked by fog anymore
sample.rng = 5.f; sample.rng = 5.f;
sample.time_us = _range_finder.getSampleAddress()->time_us;
updateSensorAtRate(sample, duration_us, dt_update_us, dt_sensor_us); updateSensorAtRate(sample, duration_us, dt_update_us, dt_sensor_us);
// THEN: the data should be marked as healthy again // THEN: the data should be marked as healthy again