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test: Allow for larger vel variance growth due to dvel bias variance

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This commit is contained in:
Paul Riseborough
2021-01-08 11:08:52 +11:00
committed by Daniel Agar
parent 1b1c049e81
commit 96418101e1
1 changed files with 2 additions and 2 deletions
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test/test_EKF_externalVision.cpp
+2 -2
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@@ -281,7 +281,7 @@ TEST_F(EkfExternalVisionTest, velocityFrameBody)
// THEN: As the drone is turned 90 degrees, velocity variance
// along local y axis is expected to be bigger
const Vector3f velVar_new = _ekf->getVelocityVariance();
EXPECT_NEAR(velVar_new(1) / velVar_new(0), 80.f, 10.f);
EXPECT_NEAR(velVar_new(1) / velVar_new(0), 80.f, 15.f);
const Vector3f vel_earth_est = _ekf->getVelocity();
EXPECT_NEAR(vel_earth_est(0), 0.0f, 0.1f);
@@ -316,7 +316,7 @@ TEST_F(EkfExternalVisionTest, velocityFrameLocal)
// THEN: Independently on drones heading, velocity variance
// along local x axis is expected to be bigger
const Vector3f velVar_new = _ekf->getVelocityVariance();
EXPECT_NEAR(velVar_new(0) / velVar_new(1), 80.f, 10.f);
EXPECT_NEAR(velVar_new(0) / velVar_new(1), 80.f, 15.f);
const Vector3f vel_earth_est = _ekf->getVelocity();
EXPECT_NEAR(vel_earth_est(0), 1.0f, 0.1f);