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unit test fix

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This commit is contained in:
Thorsten Laux 2018-12-10 10:51:45 +01:00
parent 17a995e03e
commit e63cb48adf
1 changed files with 1 additions and 3 deletions
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4
src/test/unit/pid_unittest.cc
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@ -589,15 +589,13 @@ TEST(pidControllerTest, testAbsoluteControl) {
pidStabilisationState(PID_STABILISATION_ON); pidStabilisationState(PID_STABILISATION_ON);
float gyroRate = 0; float gyroRate = 0;
bool itermRelaxIsEnabled = false;
float setpointLpf = 6; float setpointLpf = 6;
float setpointHpf = 30; float setpointHpf = 30;
float itermErrorRate = 10; float itermErrorRate = 10;
float currentPidSetpoint = 10; float currentPidSetpoint = 10;
applyAbsoluteControl(FD_PITCH, gyroRate, itermRelaxIsEnabled, setpointLpf, setpointHpf, applyAbsoluteControl(FD_PITCH, gyroRate, &currentPidSetpoint, &itermErrorRate);
&currentPidSetpoint, &itermErrorRate);
ASSERT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8)); ASSERT_NEAR(10.8, itermErrorRate, calculateTolerance(10.8));
ASSERT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8)); ASSERT_NEAR(10.8, currentPidSetpoint, calculateTolerance(10.8));