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tests smoothz: fix fabsf and consider rest once previous velocity is zero

sbg
Dennis Mannhart 7 years ago committed by Beat Küng
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59f3de192f
commit
23b294b434
1 changed files with 5 additions and 5 deletions
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  1. 10
      src/systemcmds/tests/test_smooth_z.cpp

10
src/systemcmds/tests/test_smooth_z.cpp
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@ -110,11 +110,11 @@ bool SmoothZTest::brakeDownward() @@ -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() @@ -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() @@ -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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