unit test for VTEOosm.h

Author: jonas

src/modules/vision_target_estimator/CMakeLists.txt

@@ -224,3 +224,7 @@ if(CONFIG_MODULES_VISION_TARGET_ESTIMATOR)
 		${VTEST_GENERATED_DERIVATION_INCLUDE_PATH}
 	)
 endif()
+
+if(BUILD_TESTING)
+	add_subdirectory(test)
+endif()

src/modules/vision_target_estimator/Orientation/KF_orientation.h

@@ -126,6 +126,6 @@ class KF_orientation
 	// OOSM history buffer:
 	// 0.5s window @ 50Hz predict rate = 25 samples.
 	// Note that the 0.5s window is enforced with kOosmMaxTimeUs = 500_ms.
-	OOSMManager<KF_orientation, State::size, EmptyInput> _oosm;
+	OOSMManager<KF_orientation, State::size, EmptyInput, 25> _oosm;
 };
 } // namespace vision_target_estimator

src/modules/vision_target_estimator/Position/KF_position.h

@@ -127,6 +127,6 @@ class KF_position
 	// OOSM history buffer:
 	// 0.5s window @ 50Hz predict rate = 25 samples.
 	// Note that the 0.5s window is enforced with kOosmMaxTimeUs = 500_ms.
-	OOSMManager<KF_position, vtest::State::size, float> _oosm;
+	OOSMManager<KF_position, vtest::State::size, float, 25> _oosm;
 };
 } // namespace vision_target_estimator

src/modules/vision_target_estimator/test/CMakeLists.txt

@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_unit_gtest(
+	SRC VTEOosmTest.cpp
+	INCLUDES ${CMAKE_CURRENT_SOURCE_DIR}/..
+)