Automated Testing of Ultrawideband Positioning for Autonomous Driving

Algorithm 3

(1)	void pos_uwb_update_dr(float imu_yaw, float turn_rad, float speed) {
(2)	fi_inject_fault_float(“uwb_travel_dist,” &travel_dist);
(3)	fi_inject_fault_float(“uwb_yaw,” &imu_yaw);
(4)	…
(5)	}