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ekf2_test: adjust airspeed unit test

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an airpseed of > 2m/s is required to start the fusion (set by param)
fw mode is also required

Given the larger estimated windspeed after those changes, the change of
static pressure is larger and the height estimate takes more time to
reach the final value
This commit is contained in:
bresch
2021-10-22 17:21:54 +02:00
committed by Mathieu Bresciani
parent 6e8f0e92ff
commit 3927c183de
1 changed files with 3 additions and 2 deletions
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src/modules/ekf2/test/test_EKF_airspeed.cpp
+3 -2
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@@ -75,12 +75,13 @@ TEST_F(EkfAirspeedTest, testWindVelocityEstimation)
{
const Vector3f simulated_velocity_earth(0.0f, 1.5f, 0.0f);
const Vector2f airspeed_body(0.4f, 0.0f);
const Vector2f airspeed_body(2.4f, 0.0f);
_ekf_wrapper.enableExternalVisionVelocityFusion();
_sensor_simulator._vio.setVelocity(simulated_velocity_earth);
_sensor_simulator.startExternalVision();
_ekf->set_in_air_status(true);
_ekf->set_is_fixed_wing(true);
_sensor_simulator.startAirspeedSensor();
_sensor_simulator._airspeed.setData(airspeed_body(0), airspeed_body(0));
@@ -116,6 +117,6 @@ TEST_F(EkfAirspeedTest, testWindVelocityEstimation)
const float expected_height_after_pressure_correction = height_before_pressure_correction -
expected_height_difference;
EXPECT_NEAR(height_after_pressure_correction, expected_height_after_pressure_correction, 1e-3f);
EXPECT_NEAR(height_after_pressure_correction, expected_height_after_pressure_correction, 1e-2f);
}