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Change default iterm_windup

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borisbstyle 2018-09-10 12:31:43 +02:00
parent 00dbaf9fa7
commit aa44fd6bbd
2 changed files with 16 additions and 9 deletions
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8
src/test/unit/pid_unittest.cc
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@ -460,11 +460,11 @@ TEST(pidControllerTest, testMixerSaturation) {
setStickPosition(FD_ROLL, 0.1f);
setStickPosition(FD_PITCH, -0.1f);
setStickPosition(FD_YAW, 0.1f);
simulatedMotorMixRange = (pidProfile->itermWindupPointPercent + 1 / 100.0f);
simulatedMotorMixRange = (pidProfile->itermWindupPointPercent + 1) / 100.0f;
pidController(pidProfile, &rollAndPitchTrims, currentTestTime());
ASSERT_NE(pidData[FD_ROLL].I, rollTestIterm);
ASSERT_NE(pidData[FD_PITCH].I, pitchTestIterm);
ASSERT_NE(pidData[FD_YAW].I, yawTestIterm);
ASSERT_LT(pidData[FD_ROLL].I, rollTestIterm);
ASSERT_GE(pidData[FD_PITCH].I, pitchTestIterm);
ASSERT_LT(pidData[FD_YAW].I, yawTestIterm);
}
// TODO - Add more scenarios