From 96418101e1afc51c86e3d3bddf520c0651eaade9 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 8 Jan 2021 11:08:52 +1100 Subject: [PATCH] test: Allow for larger vel variance growth due to dvel bias variance --- test/test_EKF_externalVision.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/test/test_EKF_externalVision.cpp b/test/test_EKF_externalVision.cpp index f0a0451ddf6..38d419e6522 100644 --- a/test/test_EKF_externalVision.cpp +++ b/test/test_EKF_externalVision.cpp @@ -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);