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Fix small angle check reversed logic (#9188)

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Fix small angle check reversed logic
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Michael Keller 2019-11-20 08:17:00 +13:00 • committed by GitHub
commit a94e78a37a
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2 changed files with 4 additions and 4 deletions
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2
src/main/flight/imu.c
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@ -724,5 +724,5 @@ void imuQuaternionHeadfreeTransformVectorEarthToBody(t_fp_vector_def *v)
bool isUpright(void) bool isUpright(void)
{ {
return attitudeIsEstablished && getCosTiltAngle() <= smallAngleCosZ; return attitudeIsEstablished && getCosTiltAngle() > smallAngleCosZ;
} }

6
src/test/unit/flight_imu_unittest.cc
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@ -175,7 +175,7 @@ TEST(FlightImuTest, TestSmallAngle)
imuComputeRotationMatrix(); imuComputeRotationMatrix();
// expect // expect
EXPECT_EQ(true, isUpright()); EXPECT_EQ(false, isUpright());
// given // given
rMat[0][0] = r1; rMat[0][0] = r1;
@ -187,7 +187,7 @@ TEST(FlightImuTest, TestSmallAngle)
imuComputeRotationMatrix(); imuComputeRotationMatrix();
// expect // expect
EXPECT_EQ(true, isUpright()); EXPECT_EQ(false, isUpright());
// given // given
memset(rMat, 0.0, sizeof(float) * 9); memset(rMat, 0.0, sizeof(float) * 9);
@ -196,7 +196,7 @@ TEST(FlightImuTest, TestSmallAngle)
imuComputeRotationMatrix(); imuComputeRotationMatrix();
// expect // expect
EXPECT_EQ(true, isUpright()); EXPECT_EQ(false, isUpright());
} }
// STUBS // STUBS