fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-05 13:18:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

TestVelocitySmoothing - Remove useless function override, use ceil instead of ceilf and remove line duplicate

Browse Source
This commit is contained in:
bresch
2019-08-29 15:20:53 +02:00
committed by Mathieu Bresciani
parent 5b82fa3a0f
commit 94d15931f2
1 changed files with 1 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/Utility/VelocitySmoothingTest.cpp
+1 -8
View File
@@ -46,11 +46,6 @@ using namespace matrix;
class VelocitySmoothingTest : public ::testing::Test
{
public:
void SetUp() override
{
return;
}
void setConstraints(float j_max, float a_max, float v_max);
void setInitialConditions(Vector3f acc, Vector3f vel, Vector3f pos);
void updateTrajectories(Vector3f velocity_setpoints, float dt);
@@ -120,7 +115,7 @@ TEST_F(VelocitySmoothingTest, testConstantSetpoint)
// bit more time than the predicted one, this is why we have to add 14 steps
// to the theoretical value
float t123 = _trajectories[0].getTotalTime();
float nb_steps = ceilf(t123 / dt) + 14;
int nb_steps = ceil(t123 / dt) + 14;
for (int i = 0; i < nb_steps; i++) {
updateTrajectories(velocity_setpoints, dt);
@@ -148,8 +143,6 @@ TEST_F(VelocitySmoothingTest, testZeroSetpoint)
float dt = 0.01f;
// Run a few times the algorithm
updateTrajectories(velocity_setpoints, dt);
for (int i = 0; i < 60; i++) {
updateTrajectories(velocity_setpoints, dt);
}