Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-23 06:36:45 +08:00
Code Issues Actions 20 Packages Projects Releases Wiki Activity

fix(mc_att_control): pin ref-model frequency in feedforward unit test

Browse Source 
The test referenced AttitudeControl::kFFNaturalFreq, which was removed
when MC_REF_W_N was introduced; pin the frequency explicitly in the
fixture so the residual tolerances stay calibrated against a known
omega_n independent of class defaults.

Signed-off-by: gguidone <gennaroguido2002@gmail.com>
This commit is contained in:
gguidone
2026-05-22 11:18:53 +02:00
parent e8cb12bfa8
commit d91c6cf25a
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/AttitudeControl/AttitudeControlTest.cpp
+3 -3
View File
@@ -146,6 +146,7 @@ public:
{
_attitude_control.setProportionalGain(Vector3f(6.5f, 6.5f, 2.8f), 0.4f);
_attitude_control.setRateLimit(Vector3f(10.f, 10.f, 10.f));
_attitude_control.setRefModelFrequency(10.f);
}
// Push a constant-rate ramp around the given body axis until the reference model is settled.
@@ -165,9 +166,8 @@ public:
AttitudeControl _attitude_control;
static constexpr float kDt = 0.004f; // 250 Hz setpoint rate
static constexpr float kOmegaN = AttitudeControl::kFFNaturalFreq; // 10 rad/s
static constexpr int kSettleSteps = 500; // ~ 20 / omega_n, residual < 1e-7
static constexpr float kDt = 0.004f; // 250 Hz setpoint rate
static constexpr int kSettleSteps = 500; // generous settling window for any default omega_n
};
TEST_F(AttitudeControlFeedforwardTest, ConstantSetpointGivesNoFeedforward)