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fix unit test

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This commit is contained in:
mituritsyn 2024-08-15 02:12:30 +02:00
parent a7a6cbe6b1
commit 3d88f4158a
1 changed files with 8 additions and 2 deletions
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10
src/test/unit/rc_controls_unittest.cc
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@ -549,6 +549,10 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
pidProfile.pid[PID_YAW].P = 7;
pidProfile.pid[PID_YAW].I = 17;
pidProfile.pid[PID_YAW].D = 27;
pidProfile.d_min[FD_PITCH] = 19;
pidProfile.d_min[FD_ROLL] = 19;
// and
controlRateConfig_t controlRateConfig;
memset(&controlRateConfig, 0, sizeof(controlRateConfig));
@ -591,10 +595,12 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
// and
EXPECT_EQ(1, pidProfile.pid[PID_PITCH].P);
EXPECT_EQ(11, pidProfile.pid[PID_PITCH].I);
EXPECT_EQ(21, pidProfile.pid[PID_PITCH].D);
EXPECT_EQ(20, pidProfile.pid[PID_PITCH].D);
EXPECT_EQ(20, pidProfile.d_min[FD_PITCH]);
EXPECT_EQ(6, pidProfile.pid[PID_ROLL].P);
EXPECT_EQ(16, pidProfile.pid[PID_ROLL].I);
EXPECT_EQ(26, pidProfile.pid[PID_ROLL].D);
EXPECT_EQ(25, pidProfile.pid[PID_ROLL].D);
EXPECT_EQ(20, pidProfile.d_min[FD_ROLL]);
EXPECT_EQ(8, pidProfile.pid[PID_YAW].P);
EXPECT_EQ(18, pidProfile.pid[PID_YAW].I);
EXPECT_EQ(28, pidProfile.pid[PID_YAW].D);