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FW separate reset integrals for messages (#20502)

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This commit separates integral resets for attitude and rate control setpoints
This commit is contained in:
JaeyoungLim
2022-11-01 06:06:27 +01:00
committed by GitHub
parent 6d2dd798a0
commit a90857f651
5 changed files with 12 additions and 10 deletions
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src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
+1 -1
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@@ -62,7 +62,7 @@ TEST(PositionControlTest, EmptySetpoint)
EXPECT_FLOAT_EQ(attitude.yaw_sp_move_rate, 0.f);
EXPECT_EQ(Quatf(attitude.q_d), Quatf(1.f, 0.f, 0.f, 0.f));
EXPECT_EQ(Vector3f(attitude.thrust_body), Vector3f(0.f, 0.f, 0.f));
EXPECT_EQ(attitude.reset_rate_integrals, false);
EXPECT_EQ(attitude.reset_integral, false);
EXPECT_EQ(attitude.fw_control_yaw, false);
EXPECT_FLOAT_EQ(attitude.apply_flaps, 0.f);//vehicle_attitude_setpoint_s::FLAPS_OFF); // TODO why no reference?
}