From 20b46ad33f0a64ad6beabe5a8ab2a27fd3bdee9b Mon Sep 17 00:00:00 2001 From: bresch Date: Thu, 29 Sep 2022 14:47:47 +0200 Subject: [PATCH] ekf2_test: test validity of local position when not at rest At rest, the zero velocity update keeps the local position valid all the time. Deactivate it to be able to test the validity checks --- src/modules/ekf2/test/test_EKF_fusionLogic.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/modules/ekf2/test/test_EKF_fusionLogic.cpp b/src/modules/ekf2/test/test_EKF_fusionLogic.cpp index 26b13a988e..cfcc62d660 100644 --- a/src/modules/ekf2/test/test_EKF_fusionLogic.cpp +++ b/src/modules/ekf2/test/test_EKF_fusionLogic.cpp @@ -66,6 +66,10 @@ public: _ekf->set_vehicle_at_rest(true); _sensor_simulator.runSeconds(7); + + // When at rest, the strong zero velocity update keeps the local position + // valid. Deactivate this to test the change of validity without zvup + _ekf->set_vehicle_at_rest(false); } // Use this method to clean up any memory, network etc. after each test