From b04c500b1906d51730c5dd9662f5c5522d86fcb9 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 2 Jul 2020 16:08:14 +0200
Subject: [PATCH] default values for tests

---
 include/gnss/sensor/sensor_gnss.h | 18 +++++++++---------
 src/sensor/sensor_gnss.cpp        |  2 +-
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/include/gnss/sensor/sensor_gnss.h b/include/gnss/sensor/sensor_gnss.h
index ee379c90f..0fe76e0d8 100644
--- a/include/gnss/sensor/sensor_gnss.h
+++ b/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();
 
 
diff --git a/src/sensor/sensor_gnss.cpp b/src/sensor/sensor_gnss.cpp
index 29b8234fd..471384fac 100644
--- a/src/sensor/sensor_gnss.cpp
+++ b/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());
-- 
GitLab