From 7b5917567a4ccb391002cfedf0d37212b3428e8e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 7 Aug 2016 10:59:03 +0200 Subject: [PATCH] Fix Mixer test for OS X --- src/systemcmds/tests/test_mixer.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp index 88c37d6e9c..ec595199c7 100644 --- a/src/systemcmds/tests/test_mixer.cpp +++ b/src/systemcmds/tests/test_mixer.cpp @@ -71,6 +71,12 @@ static bool should_prearm = false; #define NAN_VALUE 0.0f/0.0f +#ifdef __PX4_DARWIN +#define MIXER_DIFFERENCE_THRESHOLD 30 +#else +#define MIXER_DIFFERENCE_THRESHOLD 2 +#endif + int test_mixer(int argc, char *argv[]) { /* @@ -296,7 +302,7 @@ int test_mixer(int argc, char *argv[]) for (unsigned i = 0; i < mixed; i++) { servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f; - if (abs(servo_predicted[i] - r_page_servos[i]) > 2) { + if (abs(servo_predicted[i] - r_page_servos[i]) > MIXER_DIFFERENCE_THRESHOLD) { fprintf(stderr, "\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]); PX4_ERR("mixer violated predicted value");