default values for tests

include/gnss/sensor/sensor_gnss.h

@@ -19,17 +19,17 @@ WOLF_PTR_TYPEDEFS(SensorGnss);
 struct ParamsSensorGnss : public ParamsSensorBase
 {
         // extrinsics and intrinsics
-        bool extrinsics_fixed;
-        bool clock_bias_GPS_GLO_dynamic;
-        bool clock_bias_GPS_GAL_dynamic;
-        bool clock_bias_GPS_CMP_dynamic;
+        bool extrinsics_fixed = true;
+        bool clock_bias_GPS_GLO_dynamic = false;
+        bool clock_bias_GPS_GAL_dynamic = false;
+        bool clock_bias_GPS_CMP_dynamic = false;
 
         // ENU
-        std::string ENU_mode;
-        bool roll_fixed = false;
-        bool pitch_fixed = false;
-        bool yaw_fixed = false;
-        bool translation_fixed = false;
+        std::string ENU_mode = "auto";
+        bool roll_fixed = true;
+        bool pitch_fixed = true;
+        bool yaw_fixed = true;
+        bool translation_fixed = true;
         Eigen::Vector3d ENU_latlonalt = Eigen::Vector3d::Zero();
 
 

src/sensor/sensor_gnss.cpp

@@ -45,7 +45,7 @@ SensorGnss::SensorGnss(const Eigen::VectorXd& _extrinsics,
 
     // PRIORS
     // prior to ENU-MAP (avoid non-observable problem)
-    if (params->ENU_mode != "ECEF")
+    if (params_->ENU_mode != "ECEF")
     {
         if (not params_->translation_fixed)
             addPriorParameter('t', Eigen::Vector3d::Zero(), 10*Eigen::Matrix3d::Identity());