mc_pos_control: address @bresch's review comments

src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp

@@ -66,7 +66,7 @@ TEST(ControlMathTest, ThrottleAttitudeMapping)
 	 * order is: 1. roll, 2. pitch, 3. yaw */
 	thr = Vector3f(0.0f, 0.0f, 1.0f);
 	att = thrustToAttitude(thr, yaw);
-	EXPECT_NEAR(abs(att.roll_body), M_PI_F, 1e4f);
+	EXPECT_NEAR(att.roll_body, -M_PI_F, 1e-4);
 	EXPECT_EQ(att.pitch_body, 0);
 	EXPECT_EQ(att.yaw_body, M_PI_2_F);
 	EXPECT_EQ(att.thrust_body[2], -1.f);
@@ -74,27 +74,25 @@ TEST(ControlMathTest, ThrottleAttitudeMapping)
 
 TEST(ControlMathTest, ConstrainXYPriorities)
 {
-	float max = 5.0f;
+	const float max = 5.0f;
 	// v0 already at max
 	Vector2f v0(max, 0);
 	Vector2f v1(v0(1), -v0(0));
 
 	Vector2f v_r = constrainXY(v0, v1, max);
 	EXPECT_EQ(v_r(0), max);
-	EXPECT_GT(v_r(0), 0);
 	EXPECT_EQ(v_r(1), 0);
 
-	// v1 exceeds max but v0 is zero
+	// norm of v1 exceeds max but v0 is zero
 	v0.zero();
 	v_r = constrainXY(v0, v1, max);
 	EXPECT_EQ(v_r(1), -max);
-	EXPECT_LT(v_r(1), 0);
 	EXPECT_EQ(v_r(0), 0);
 
 	v0 = Vector2f(0.5f, 0.5f);
 	v1 = Vector2f(0.5f, -0.5f);
 	v_r = constrainXY(v0, v1, max);
-	float diff = Vector2f(v_r - (v0 + v1)).length();
+	const float diff = Vector2f(v_r - (v0 + v1)).length();
 	EXPECT_EQ(diff, 0);
 
 	// v0 and v1 exceed max and are perpendicular
@@ -103,7 +101,7 @@ TEST(ControlMathTest, ConstrainXYPriorities)
 	v_r = constrainXY(v0, v1, max);
 	EXPECT_EQ(v_r(0), v0(0));
 	EXPECT_GT(v_r(0), 0);
-	float remaining = sqrtf(max * max - (v0(0) * v0(0)));
+	const float remaining = sqrtf(max * max - (v0(0) * v0(0)));
 	EXPECT_EQ(v_r(1), -remaining);
 }
 
@@ -129,8 +127,8 @@ TEST(ControlMathTest, CrossSphereLine)
 	 *
 	 *
 	 * On trajectory --+----o----1----+--------2/3---+-- */
-	Vector3f prev = Vector3f(0.0f, 0.0f, 0.0f);
-	Vector3f curr = Vector3f(0.0f, 0.0f, 2.0f);
+	const Vector3f prev = Vector3f(0.0f, 0.0f, 0.0f);
+	const Vector3f curr = Vector3f(0.0f, 0.0f, 2.0f);
 	Vector3f res;
 	bool retval = false;
 

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -67,8 +67,8 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_trajectory_waypoint.h>
 
-#include "PositionControl.hpp"
-#include "PositionControl/ControlMath.hpp"
+#include <PositionControl.hpp>
+#include <ControlMath.hpp>
 #include "Takeoff.hpp"
 
 #include <float.h>