1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 12:25:20 +03:00

unit test bugs

This commit is contained in:
Thorsten Laux 2018-12-10 19:28:18 +01:00
parent 56181a87c8
commit b0af988a75
2 changed files with 3 additions and 9 deletions

View file

@ -589,8 +589,6 @@ TEST(pidControllerTest, testAbsoluteControl) {
pidStabilisationState(PID_STABILISATION_ON);
float gyroRate = 0;
float setpointLpf = 6;
float setpointHpf = 30;
float itermErrorRate = 10;
float currentPidSetpoint = 10;
@ -600,16 +598,13 @@ TEST(pidControllerTest, testAbsoluteControl) {
ASSERT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
ASSERT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));
itermRelaxIsEnabled = true;
applyAbsoluteControl(FD_PITCH, gyroRate, itermRelaxIsEnabled, setpointLpf, setpointHpf,
&currentPidSetpoint, &itermErrorRate);
applyAbsoluteControl(FD_PITCH, gyroRate, &currentPidSetpoint, &itermErrorRate);
ASSERT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
ASSERT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));
gyroRate = -53;
axisError[FD_PITCH] = -60;
applyAbsoluteControl(FD_PITCH, gyroRate, itermRelaxIsEnabled, setpointLpf, setpointHpf,
&currentPidSetpoint, &itermErrorRate);
applyAbsoluteControl(FD_PITCH, gyroRate, &currentPidSetpoint, &itermErrorRate);
ASSERT_NEAR(-79.2, itermErrorRate, calculateTolerance(-79.2));
ASSERT_NEAR(-79.2, currentPidSetpoint, calculateTolerance(-79.2));
}