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EkfInitializationTest Class Reference
Inheritance diagram for EkfInitializationTest:
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Public Member Functions

void SetUp () override
 
void update_with_const_sensors (uint32_t duration_us, Vector3f ang_vel=Vector3f{0.0f, 0.0f, 0.0f}, Vector3f accel=Vector3f{0.0f, 0.0f,-CONSTANTS_ONE_G}, Vector3f mag_data=Vector3f{0.2f, 0.0f, 0.4f}, float baro_data=122.2f)
 
void TearDown () override
 

Public Attributes

Ekf _ekf {}
 
const uint32_t _imu_dt_us {4000}
 
const uint32_t _baro_dt_us {12500}
 
const uint32_t _mag_dt_us {12500}
 
const uint32_t _gps_dt_us {200000}
 
bool _fuse_imu {true}
 
bool _fuse_baro {true}
 
bool _fuse_mag {true}
 
bool _fuse_gps {false}
 
gps_message _gps_message {}
 
uint32_t _update_dt_us {}
 
const uint32_t _init_duration_us {2000000}
 
uint32_t _counter_imu {0}
 
uint32_t _counter_baro {0}
 
uint32_t _counter_mag {0}
 
uint32_t _t_us {0}
 

Detailed Description

Definition at line 38 of file test_EKF_basics.cpp.

Member Function Documentation

◆ SetUp()

void EkfInitializationTest::SetUp ( )
inlineoverride

Definition at line 69 of file test_EKF_basics.cpp.

References _ekf, _gps_message, _init_duration_us, estimator::gps_message::alt, estimator::gps_message::eph, estimator::gps_message::epv, estimator::gps_message::fix_type, Ekf::init(), estimator::gps_message::lat, estimator::gps_message::lon, estimator::gps_message::nsats, estimator::gps_message::pdop, estimator::gps_message::sacc, estimator::gps_message::time_usec, update_with_const_sensors(), estimator::gps_message::vel_m_s, estimator::gps_message::vel_ned, estimator::gps_message::vel_ned_valid, estimator::gps_message::yaw, and estimator::gps_message::yaw_offset.

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◆ TearDown()

void EkfInitializationTest::TearDown ( )
inlineoverride

Definition at line 156 of file test_EKF_basics.cpp.

◆ update_with_const_sensors()

void EkfInitializationTest::update_with_const_sensors ( uint32_t  duration_us,
Vector3f  ang_vel = Vector3f{0.0f,0.0f,0.0f},
Vector3f  accel = Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G},
Vector3f  mag_data = Vector3f{0.2f, 0.0f, 0.4f},
float  baro_data = 122.2f 
)
inline

Definition at line 103 of file test_EKF_basics.cpp.

References _baro_dt_us, _counter_baro, _counter_imu, _counter_mag, _ekf, _fuse_baro, _fuse_gps, _fuse_imu, _fuse_mag, _gps_dt_us, _gps_message, _imu_dt_us, _mag_dt_us, _t_us, _update_dt_us, CONSTANTS_ONE_G, estimator::imuSample::delta_ang, estimator::imuSample::delta_ang_dt, estimator::imuSample::delta_vel, estimator::imuSample::delta_vel_dt, f(), EstimatorInterface::setBaroData(), EstimatorInterface::setGpsData(), EstimatorInterface::setIMUData(), EstimatorInterface::setMagData(), estimator::imuSample::time_us, estimator::gps_message::time_usec, and Ekf::update().

Referenced by SetUp(), and TEST_F().

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Member Data Documentation

◆ _baro_dt_us

const uint32_t EkfInitializationTest::_baro_dt_us {12500}

Definition at line 45 of file test_EKF_basics.cpp.

Referenced by update_with_const_sensors().

◆ _counter_baro

uint32_t EkfInitializationTest::_counter_baro {0}

Definition at line 63 of file test_EKF_basics.cpp.

Referenced by update_with_const_sensors().

◆ _counter_imu

uint32_t EkfInitializationTest::_counter_imu {0}

Definition at line 62 of file test_EKF_basics.cpp.

Referenced by update_with_const_sensors().

◆ _counter_mag

uint32_t EkfInitializationTest::_counter_mag {0}

Definition at line 64 of file test_EKF_basics.cpp.

Referenced by update_with_const_sensors().

◆ _ekf

Ekf EkfInitializationTest::_ekf {}

Definition at line 41 of file test_EKF_basics.cpp.

Referenced by SetUp(), TEST_F(), and update_with_const_sensors().

◆ _fuse_baro

bool EkfInitializationTest::_fuse_baro {true}

Definition at line 51 of file test_EKF_basics.cpp.

Referenced by update_with_const_sensors().

◆ _fuse_gps

bool EkfInitializationTest::_fuse_gps {false}

Definition at line 53 of file test_EKF_basics.cpp.

Referenced by TEST_F(), and update_with_const_sensors().

◆ _fuse_imu

bool EkfInitializationTest::_fuse_imu {true}

Definition at line 50 of file test_EKF_basics.cpp.

Referenced by update_with_const_sensors().

◆ _fuse_mag

bool EkfInitializationTest::_fuse_mag {true}

Definition at line 52 of file test_EKF_basics.cpp.

Referenced by update_with_const_sensors().

◆ _gps_dt_us

const uint32_t EkfInitializationTest::_gps_dt_us {200000}

Definition at line 47 of file test_EKF_basics.cpp.

Referenced by update_with_const_sensors().

◆ _gps_message

gps_message EkfInitializationTest::_gps_message {}

Definition at line 56 of file test_EKF_basics.cpp.

Referenced by SetUp(), and update_with_const_sensors().

◆ _imu_dt_us

const uint32_t EkfInitializationTest::_imu_dt_us {4000}

Definition at line 44 of file test_EKF_basics.cpp.

Referenced by update_with_const_sensors().

◆ _init_duration_us

const uint32_t EkfInitializationTest::_init_duration_us {2000000}

Definition at line 59 of file test_EKF_basics.cpp.

Referenced by SetUp().

◆ _mag_dt_us

const uint32_t EkfInitializationTest::_mag_dt_us {12500}

Definition at line 46 of file test_EKF_basics.cpp.

Referenced by update_with_const_sensors().

◆ _t_us

uint32_t EkfInitializationTest::_t_us {0}

Definition at line 66 of file test_EKF_basics.cpp.

Referenced by update_with_const_sensors().

◆ _update_dt_us

uint32_t EkfInitializationTest::_update_dt_us {}

Definition at line 58 of file test_EKF_basics.cpp.

Referenced by update_with_const_sensors().

The documentation for this class was generated from the following file: