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Refactor IMU unit test

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This commit is contained in:
Dan Nixon 2017-06-11 11:14:24 +01:00
parent fa4517fa8b
commit 3dae29611e
3 changed files with 237 additions and 124 deletions
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src/main/flight/imu.c
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@ -92,7 +92,7 @@ static float magneticDeclination = 0.0f; // calculated at startup from con
static imuRuntimeConfig_t imuRuntimeConfig;
STATIC_UNIT_TESTED float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; // quaternion of sensor frame relative to earth frame
static float rMat[3][3];
STATIC_UNIT_TESTED float rMat[3][3];
attitudeEulerAngles_t attitude = { { 0, 0, 0 } }; // absolute angle inclination in multiple of 0.1 degree 180 deg = 1800