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unit test bugs
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56181a87c8
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2 changed files with 3 additions and 9 deletions
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@ -589,8 +589,6 @@ TEST(pidControllerTest, testAbsoluteControl) {
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pidStabilisationState(PID_STABILISATION_ON);
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float gyroRate = 0;
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float setpointLpf = 6;
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float setpointHpf = 30;
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float itermErrorRate = 10;
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float currentPidSetpoint = 10;
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@ -600,16 +598,13 @@ TEST(pidControllerTest, testAbsoluteControl) {
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ASSERT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
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ASSERT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));
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itermRelaxIsEnabled = true;
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applyAbsoluteControl(FD_PITCH, gyroRate, itermRelaxIsEnabled, setpointLpf, setpointHpf,
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¤tPidSetpoint, &itermErrorRate);
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applyAbsoluteControl(FD_PITCH, gyroRate, ¤tPidSetpoint, &itermErrorRate);
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ASSERT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
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ASSERT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));
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gyroRate = -53;
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axisError[FD_PITCH] = -60;
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applyAbsoluteControl(FD_PITCH, gyroRate, itermRelaxIsEnabled, setpointLpf, setpointHpf,
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¤tPidSetpoint, &itermErrorRate);
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applyAbsoluteControl(FD_PITCH, gyroRate, ¤tPidSetpoint, &itermErrorRate);
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ASSERT_NEAR(-79.2, itermErrorRate, calculateTolerance(-79.2));
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ASSERT_NEAR(-79.2, currentPidSetpoint, calculateTolerance(-79.2));
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}
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