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ekf2 unit-tests: adapt to strict GNSS checks on ground

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This commit is contained in:
Marco Hauswirth
2026-02-06 11:43:05 +01:00
committed by Matthias Grob
parent f9cdd095b8
commit c4535683a7
2 changed files with 7 additions and 2 deletions
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src/modules/ekf2/test/test_EKF_gnss_yaw.cpp
+2 -1
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@@ -281,7 +281,8 @@ TEST_F(EkfGpsHeadingTest, yawJmpOnGround)
EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1); EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1);
// AND THEN: restart GNSS yaw fusion // AND THEN: restart GNSS yaw fusion
_sensor_simulator.runSeconds(5); // The strict checks on ground require min_health_time_us (10s) to pass again.
_sensor_simulator.runSeconds(11);
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion()); EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion());
EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 2); EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 2);
EXPECT_LT(fabsf(matrix::wrap_pi(_ekf_wrapper.getYawAngle() - gps_heading)), math::radians(1.f)); EXPECT_LT(fabsf(matrix::wrap_pi(_ekf_wrapper.getYawAngle() - gps_heading)), math::radians(1.f));
src/modules/ekf2/test/test_EKF_gps.cpp
+5 -1
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@@ -81,6 +81,10 @@ TEST_F(EkfGpsTest, gpsTimeout)
// GIVEN:EKF that fuses GPS // GIVEN:EKF that fuses GPS
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
// In air the simplified checks are used which do not include satellite count
_ekf->set_in_air_status(true);
_ekf->set_vehicle_at_rest(false);
// WHEN: the number of satellites drops below the minimum // WHEN: the number of satellites drops below the minimum
_sensor_simulator._gps.setNumberOfSatellites(3); _sensor_simulator._gps.setNumberOfSatellites(3);
@@ -174,7 +178,7 @@ TEST_F(EkfGpsTest, resetToGpsPosition)
const Vector3f simulated_position_change(20.0f, -1.0f, 0.f); const Vector3f simulated_position_change(20.0f, -1.0f, 0.f);
_sensor_simulator._gps.stepHorizontalPositionByMeters( _sensor_simulator._gps.stepHorizontalPositionByMeters(
Vector2f(simulated_position_change)); Vector2f(simulated_position_change));
_sensor_simulator.runSeconds(6); _sensor_simulator.runSeconds(11);
// THEN: a reset to the new GPS position should be done // THEN: a reset to the new GPS position should be done
const Vector3f estimated_position = _ekf->getPosition(); const Vector3f estimated_position = _ekf->getPosition();