From 735c5544ae7984c68377a245b39647fbcd0dc891 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 9 Apr 2018 01:47:22 -0400
Subject: [PATCH] tests add ctlmath and use float FLT_EPSILON
---
platforms/posix/cmake/sitl_tests.cmake | 1 +
.../mc_pos_control_tests/test_controlmath.cpp | 27 +++++++++----------
2 files changed, 14 insertions(+), 14 deletions(-)
diff --git a/platforms/posix/cmake/sitl_tests.cmake b/platforms/posix/cmake/sitl_tests.cmake
index 61afb98134..9743dd5a11 100644
--- a/platforms/posix/cmake/sitl_tests.cmake
+++ b/platforms/posix/cmake/sitl_tests.cmake
@@ -9,6 +9,7 @@ set(tests
commander
controllib
conv
+ ctlmath
dataman
file2
float
diff --git a/src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp b/src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp
index 9c092b14d8..3094ed61dc 100644
--- a/src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp
@@ -1,8 +1,7 @@
#include <unit_test.h>
#include "../Utility/ControlMath.hpp"
#include <mathlib/mathlib.h>
-
-static const float EPS = 0.00000001f;
+#include <cfloat>
class ControlMathTest : public UnitTest
{
@@ -29,20 +28,20 @@ bool ControlMathTest::testThrAttMapping()
matrix::Vector3f thr{0.0f, 0.0f, -1.0f};
float yaw = 0.0f;
vehicle_attitude_setpoint_s att = ControlMath::thrustToAttitude(thr, yaw);
- ut_compare("", att.roll_body, EPS);
- ut_assert_true(att.pitch_body < EPS);
- ut_assert_true(att.yaw_body < EPS);
- ut_assert_true(att.thrust - 1.0f < EPS);
+ ut_assert_true(att.roll_body < FLT_EPSILON);
+ ut_assert_true(att.pitch_body < FLT_EPSILON);
+ ut_assert_true(att.yaw_body < FLT_EPSILON);
+ ut_assert_true(att.thrust - 1.0f < FLT_EPSILON);
/* expected: same as before but with 90 yaw
* reason: only yaw changed
*/
yaw = M_PI_2_F;
att = ControlMath::thrustToAttitude(thr, yaw);
- ut_assert_true(att.roll_body < EPS);
- ut_assert_true(att.pitch_body < EPS);
- ut_assert_true(att.yaw_body - M_PI_2_F < EPS);
- ut_assert_true(att.thrust - 1.0f < EPS);
+ ut_assert_true(att.roll_body < FLT_EPSILON);
+ ut_assert_true(att.pitch_body < FLT_EPSILON);
+ ut_assert_true(att.yaw_body - M_PI_2_F < FLT_EPSILON);
+ ut_assert_true(att.thrust - 1.0f < FLT_EPSILON);
/* expected: same as before but roll 180
* reason: thrust points straight down and order Euler
@@ -50,10 +49,10 @@ bool ControlMathTest::testThrAttMapping()
*/
thr = matrix::Vector3f(0.0f, 0.0f, 1.0f);
att = ControlMath::thrustToAttitude(thr, yaw);
- ut_assert_true(fabsf(att.roll_body) - M_PI_F < EPS);
- ut_assert_true(fabsf(att.pitch_body) < EPS);
- ut_assert_true(att.yaw_body - M_PI_2_F < EPS);
- ut_assert_true(att.thrust - 1.0f < EPS);
+ ut_assert_true(fabsf(att.roll_body) - M_PI_F < FLT_EPSILON);
+ ut_assert_true(fabsf(att.pitch_body) < FLT_EPSILON);
+ ut_assert_true(att.yaw_body - M_PI_2_F < FLT_EPSILON);
+ ut_assert_true(att.thrust - 1.0f < FLT_EPSILON);
/* TODO: find a good way to test it */
--
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