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fake_imu (formally fake_gyro) updates for testing gyro filtering

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- fake_imu now publishes sine sweeps over 10 seconds
 - accel is also published so that fake IMU can be selected when the only option
This commit is contained in:
Daniel Agar
2021-05-17 20:26:25 -04:00
committed by GitHub
parent 39c90c8fc9
commit c3884b5bc1
70 changed files with 206 additions and 99 deletions
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14
platforms/posix/cmake/sitl_tests.cmake
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@@ -96,6 +96,20 @@ set_tests_properties(sitl-mavlink PROPERTIES PASS_REGULAR_EXPRESSION "ALL TESTS
sanitizer_fail_test_on_error(sitl-mavlink)
# IMU filtering
add_test(NAME sitl-imu_filtering
COMMAND $<TARGET_FILE:px4>
-s ${PX4_SOURCE_DIR}/posix-configs/SITL/init/test/test_imu_filtering
-t ${PX4_SOURCE_DIR}/test_data
${PX4_SOURCE_DIR}/ROMFS/px4fmu_test
WORKING_DIRECTORY ${SITL_WORKING_DIR}
)
set_tests_properties(sitl-imu_filtering PROPERTIES FAIL_REGULAR_EXPRESSION "FAIL")
set_tests_properties(sitl-imu_filtering PROPERTIES PASS_REGULAR_EXPRESSION "ALL TESTS PASSED")
sanitizer_fail_test_on_error(sitl-imu_filtering)
# # Shutdown test
# add_test(NAME sitl-shutdown