Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 21:35:44 +03:00
Code Issues Wiki Activity

Add tolerance for feedforward

Browse source
This commit is contained in:
borisbstyle 2018-08-28 08:44:06 +02:00
parent 793c5f7b71
commit 5b7209329b
1 changed files with 2 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/test/unit/pid_unittest.cc
View file

@ -266,7 +266,7 @@ TEST(pidControllerTest, testPidLoop) {
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_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
simulatedSetpointRate[FD_ROLL] = 100;
@ -458,7 +458,7 @@ TEST(pidControllerTest, testCrashRecoveryMode) {
// Add additional verifications
}
TEST(pidControllerTest, pidSetpointTransition) {
TEST(pidControllerTest, testFeedForward) {
// TODO
}