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ekf_terr: fix unit test

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the flags were valid ony because they were based on timeouts and when
starting the unit test, it takes a couple of seconds to actually timeout
This commit is contained in:
bresch
2022-02-08 18:04:09 +01:00
committed by Daniel Agar
parent 2fb7b35a8b
commit 502ec7ef46
1 changed files with 5 additions and 10 deletions
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src/modules/ekf2/test/test_EKF_terrain_estimator.cpp
+5 -10
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@@ -107,25 +107,20 @@ public:
TEST_F(EkfTerrainTest, setFlowAndRangeTerrainFusion) TEST_F(EkfTerrainTest, setFlowAndRangeTerrainFusion)
{ {
// WHEN: simulate being 5m above ground // WHEN: simulate being 5m above ground
// By default, both rng and flow aiding are active
const float simulated_distance_to_ground = 1.f; const float simulated_distance_to_ground = 1.f;
_sensor_simulator._rng.setData(simulated_distance_to_ground, 100); runFlowAndRngScenario(simulated_distance_to_ground, simulated_distance_to_ground);
_sensor_simulator._rng.setLimits(0.1f, 9.f);
_sensor_simulator.startRangeFinder();
_ekf->set_in_air_status(true);
_sensor_simulator.runSeconds(1.5f);
// THEN: By default, both rng and flow aiding are active // THEN: By default, both rng and flow aiding are active
EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainRngFusion()); EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainRngFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainFlowFusion()); EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainFlowFusion());
const float estimated_distance_to_ground = _ekf->getTerrainVertPos(); const float estimated_distance_to_ground = _ekf->getTerrainVertPos();
EXPECT_FLOAT_EQ(estimated_distance_to_ground, simulated_distance_to_ground); EXPECT_NEAR(estimated_distance_to_ground, simulated_distance_to_ground, 1e-4);
// WHEN: rng fusion is disabled // WHEN: rng fusion is disabled
_ekf_wrapper.disableTerrainRngFusion(); _ekf_wrapper.disableTerrainRngFusion();
_sensor_simulator.runSeconds(0.2); _sensor_simulator.runSeconds(5.);
// THEN: only rng fusion should be disabled // THEN: rng fusion should be disabled and flow fusion should take over
EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainRngFusion()); EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainRngFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainFlowFusion()); EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainFlowFusion());