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ekf2: improve flow for terrain unit test

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bresch
2022-01-24 11:33:31 +01:00
committed by Mathieu Bresciani
parent 1502d77df2
commit d20e46567e
1 changed files with 3 additions and 1 deletions
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src/modules/ekf2/test/test_EKF_terrain_estimator.cpp
+3 -1
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@@ -73,6 +73,8 @@ public:
_ekf_wrapper.enableGpsFusion(); _ekf_wrapper.enableGpsFusion();
_ekf_wrapper.setBaroHeight(); _ekf_wrapper.setBaroHeight();
_sensor_simulator.runSeconds(2); // Run to pass the GPS checks _sensor_simulator.runSeconds(2); // Run to pass the GPS checks
_sensor_simulator.runSeconds(3.2); // And a bit more to start the GPS fusion TODO: this shouldn't be necessary
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
const Vector3f simulated_velocity(0.5f, -1.0f, 0.f); const Vector3f simulated_velocity(0.5f, -1.0f, 0.f);
@@ -98,7 +100,7 @@ public:
_sensor_simulator.startFlow(); _sensor_simulator.startFlow();
_ekf->set_in_air_status(true); _ekf->set_in_air_status(true);
_sensor_simulator.runSeconds(8); _sensor_simulator.runSeconds(7);
} }
}; };