From 23b294b43444b9588dde7a36e5f2d365e76b4213 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Thu, 11 Jan 2018 13:22:47 +0100
Subject: [PATCH] tests smoothz: fix fabsf and consider rest once previous
velocity is zero
---
src/systemcmds/tests/test_smooth_z.cpp | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/src/systemcmds/tests/test_smooth_z.cpp b/src/systemcmds/tests/test_smooth_z.cpp
index 02d10db0f1..09c47488ce 100644
--- a/src/systemcmds/tests/test_smooth_z.cpp
+++ b/src/systemcmds/tests/test_smooth_z.cpp
@@ -110,11 +110,11 @@ bool SmoothZTest::brakeDownward()
ut_assert_true((vel_sp_current > vel_sp_previous) || (fabsf(vel_sp_current) < FLT_EPSILON));
/* we should always use downward acceleration except when vehicle is at rest*/
- if (fabsf(vel_sp_current) < FLT_EPSILON) {
- ut_assert_true(fabsf((smooth.getMaxAcceleration() - acc_max_up) < FLT_EPSILON));
+ if (fabsf(vel_sp_previous) < FLT_EPSILON) {
+ ut_assert_true(fabsf(smooth.getMaxAcceleration() - acc_max_up) < FLT_EPSILON);
} else {
- ut_assert_true(fabsf((smooth.getMaxAcceleration() - acc_max_down) < FLT_EPSILON));
+ ut_assert_true(fabsf(smooth.getMaxAcceleration() - acc_max_down) < FLT_EPSILON);
}
@@ -160,7 +160,7 @@ bool SmoothZTest::accelerateUpwardFromBrake()
ut_assert_true(smooth.getIntention() == ManualIntentionZ::acceleration);
/* we should always use upward acceleration */
- ut_assert_true((smooth.getMaxAcceleration() - acc_max_up < FLT_EPSILON));
+ ut_assert_true(fabsf(smooth.getMaxAcceleration() - acc_max_up) < FLT_EPSILON);
/* New setpoint has to be larger than previous setpoint or equal to target velocity
* vel_sp_current. The negative sign is because of NED frame.
@@ -213,7 +213,7 @@ bool SmoothZTest::accelerateDownwardFromBrake()
ut_assert_true(smooth.getMaxAcceleration() - acc_max_up < FLT_EPSILON);
} else {
- ut_assert_true(smooth.getMaxAcceleration() - acc_max_down < FLT_EPSILON);
+ ut_assert_true(fabsf(smooth.getMaxAcceleration() - acc_max_down) < FLT_EPSILON);
}
/* New setpoint has to be larger than previous setpoint or equal to target velocity
--
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