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Fixed tests.

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This commit is contained in:
mikeller 2019-02-28 19:52:11 +13:00
parent 1d998ea404
commit 03dc1a1aee
1 changed files with 5 additions and 5 deletions
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10
src/test/unit/pid_unittest.cc
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@ -129,7 +129,7 @@ void setDefaultTestSettings(void) {
pidProfile->iterm_rotation = false; pidProfile->iterm_rotation = false;
pidProfile->smart_feedforward = false, pidProfile->smart_feedforward = false,
pidProfile->iterm_relax = ITERM_RELAX_OFF, pidProfile->iterm_relax = ITERM_RELAX_OFF,
pidProfile->iterm_relax_cutoff = 20, pidProfile->iterm_relax_cutoff = 11,
pidProfile->iterm_relax_type = ITERM_RELAX_SETPOINT, pidProfile->iterm_relax_type = ITERM_RELAX_SETPOINT,
pidProfile->abs_control_gain = 0, pidProfile->abs_control_gain = 0,
pidProfile->launchControlMode = LAUNCH_CONTROL_MODE_NORMAL, pidProfile->launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,
@ -529,12 +529,12 @@ TEST(pidControllerTest, testItermRelax) {
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint); applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
ASSERT_NEAR(-6.66, itermErrorRate, calculateTolerance(-6.66)); ASSERT_NEAR(-8.16, itermErrorRate, calculateTolerance(-6.66));
currentPidSetpoint += ITERM_RELAX_SETPOINT_THRESHOLD; currentPidSetpoint += ITERM_RELAX_SETPOINT_THRESHOLD;
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint); applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_FLOAT_EQ(itermErrorRate, 0); ASSERT_NEAR(-2.17, itermErrorRate, calculateTolerance(-2.17));
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint); applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_FLOAT_EQ(itermErrorRate, 0); ASSERT_NEAR(-0.58, itermErrorRate, calculateTolerance(-0.58));
pidProfile->iterm_relax_type = ITERM_RELAX_GYRO; pidProfile->iterm_relax_type = ITERM_RELAX_GYRO;
pidInit(pidProfile); pidInit(pidProfile);
@ -578,7 +578,7 @@ TEST(pidControllerTest, testItermRelax) {
pidProfile->iterm_relax = ITERM_RELAX_RPY; pidProfile->iterm_relax = ITERM_RELAX_RPY;
pidInit(pidProfile); pidInit(pidProfile);
applyItermRelax(FD_YAW, pidData[FD_YAW].I, gyroRate, &itermErrorRate, &currentPidSetpoint); applyItermRelax(FD_YAW, pidData[FD_YAW].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
ASSERT_NEAR(-3.6, itermErrorRate, calculateTolerance(-3.6)); ASSERT_NEAR(-6.46, itermErrorRate, calculateTolerance(-3.6));
} }
// TODO - Add more tests // TODO - Add more tests