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Add tolerance for feedforward

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borisbstyle 2018-08-28 08:44:06 +02:00
parent 793c5f7b71
commit 5b7209329b
1 changed files with 2 additions and 2 deletions
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4
src/test/unit/pid_unittest.cc
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@ -266,7 +266,7 @@ TEST(pidControllerTest, testPidLoop) {
ASSERT_NEAR(-8.7, pidData[FD_YAW].I, calculateTolerance(-8.7)); ASSERT_NEAR(-8.7, pidData[FD_YAW].I, calculateTolerance(-8.7));
EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D); EXPECT_FLOAT_EQ(0, pidData[FD_ROLL].D);
EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D); EXPECT_FLOAT_EQ(0, pidData[FD_PITCH].D);
EXPECT_FLOAT_EQ(-132.25, pidData[FD_YAW].D); ASSERT_NEAR(-132.25, pidData[FD_YAW].D, calculateTolerance(-132.25));
// Match the stick to gyro to stop error // Match the stick to gyro to stop error
simulatedSetpointRate[FD_ROLL] = 100; simulatedSetpointRate[FD_ROLL] = 100;
@ -458,7 +458,7 @@ TEST(pidControllerTest, testCrashRecoveryMode) {
// Add additional verifications // Add additional verifications
} }
TEST(pidControllerTest, pidSetpointTransition) { TEST(pidControllerTest, testFeedForward) {
// TODO // TODO
} }