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Merge pull request #9482 from ctzsnooze/Revert-iTerm-Relax

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Restore proper behaviour of iterm_relax_cutoff in setpoint mode
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Michael Keller 2020-02-17 08:11:26 +13:00 • committed by GitHub
commit c984107291
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4 changed files with 6 additions and 9 deletions
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6
src/test/unit/pid_unittest.cc
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@ -542,9 +542,9 @@ TEST(pidControllerTest, testItermRelax) {
EXPECT_NEAR(-8.16, itermErrorRate, calculateTolerance(-8.16));
currentPidSetpoint += ITERM_RELAX_SETPOINT_THRESHOLD;
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(-2.69, itermErrorRate, calculateTolerance(-2.69));
EXPECT_NEAR(0, itermErrorRate, calculateTolerance(0));
applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(-0.84, itermErrorRate, calculateTolerance(-0.84));
EXPECT_NEAR(0, itermErrorRate, calculateTolerance(0));
pidProfile->iterm_relax_type = ITERM_RELAX_GYRO;
pidInit(pidProfile);
@ -588,7 +588,7 @@ TEST(pidControllerTest, testItermRelax) {
pidProfile->iterm_relax = ITERM_RELAX_RPY;
pidInit(pidProfile);
applyItermRelax(FD_YAW, pidData[FD_YAW].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
EXPECT_NEAR(-6.46, itermErrorRate, calculateTolerance(-3.6));
EXPECT_NEAR(-3.6, itermErrorRate, calculateTolerance(-3.6));
}
// TODO - Add more tests