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Code Issues Wiki Activity

Fix small angle check reversed logic

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This commit is contained in:
Bruce Luckcuck 2019-11-18 09:40:31 -05:00
parent cfa4055132
commit b3b3b6a7d6
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)
{
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();
// expect
EXPECT_EQ(true, isUpright());
EXPECT_EQ(false, isUpright());
// given
rMat[0][0] = r1;
@ -187,7 +187,7 @@ TEST(FlightImuTest, TestSmallAngle)
imuComputeRotationMatrix();
// expect
EXPECT_EQ(true, isUpright());
EXPECT_EQ(false, isUpright());
// given
memset(rMat, 0.0, sizeof(float) * 9);
@ -196,7 +196,7 @@ TEST(FlightImuTest, TestSmallAngle)
imuComputeRotationMatrix();
// expect
EXPECT_EQ(true, isUpright());
EXPECT_EQ(false, isUpright());
}
// STUBS