From 3d88f4158a6c801efeb8904bb2ccdfacf00c1673 Mon Sep 17 00:00:00 2001 From: mituritsyn Date: Thu, 15 Aug 2024 02:12:30 +0200 Subject: [PATCH] fix unit test --- src/test/unit/rc_controls_unittest.cc | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/test/unit/rc_controls_unittest.cc b/src/test/unit/rc_controls_unittest.cc index dac615ac02..cc355859e4 100644 --- a/src/test/unit/rc_controls_unittest.cc +++ b/src/test/unit/rc_controls_unittest.cc @@ -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);