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Change scale for I and D for inflight adjustments to PIDs of FP based

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PID.
This commit is contained in:
Dominic Clifton 2015-01-30 22:09:36 +01:00
parent 1f3c9ab0db
commit d21a009d40
2 changed files with 12 additions and 12 deletions
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12
src/test/unit/rc_controls_unittest.cc
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@ -674,12 +674,12 @@ TEST(RcControlsTest, processPIDIncreasePidController2)
EXPECT_EQ(0.1f, pidProfile.P_f[PIDPITCH]);
EXPECT_EQ(5.1f, pidProfile.P_f[PIDROLL]);
EXPECT_EQ(7.1f, pidProfile.P_f[PIDYAW]);
EXPECT_EQ(10.1f, pidProfile.I_f[PIDPITCH]);
EXPECT_EQ(15.1f, pidProfile.I_f[PIDROLL]);
EXPECT_EQ(17.1f, pidProfile.I_f[PIDYAW]);
EXPECT_EQ(20.1f, pidProfile.D_f[PIDPITCH]);
EXPECT_EQ(25.1f, pidProfile.D_f[PIDROLL]);
EXPECT_EQ(27.1f, pidProfile.D_f[PIDYAW]);
EXPECT_EQ(10.01f, pidProfile.I_f[PIDPITCH]);
EXPECT_EQ(15.01f, pidProfile.I_f[PIDROLL]);
EXPECT_EQ(17.01f, pidProfile.I_f[PIDYAW]);
EXPECT_EQ(20.001f, pidProfile.D_f[PIDPITCH]);
EXPECT_EQ(25.001f, pidProfile.D_f[PIDROLL]);
EXPECT_EQ(27.001f, pidProfile.D_f[PIDYAW]);
}