From 03dc1a1aee9f8d6aa6d91509ffdc13568ac22528 Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Thu, 28 Feb 2019 19:52:11 +1300
Subject: [PATCH] Fixed tests.

---
 src/test/unit/pid_unittest.cc | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/test/unit/pid_unittest.cc b/src/test/unit/pid_unittest.cc
index 049a3832a..af504102b 100644
--- a/src/test/unit/pid_unittest.cc
+++ b/src/test/unit/pid_unittest.cc
@@ -129,7 +129,7 @@ void setDefaultTestSettings(void) {
     pidProfile->iterm_rotation = false;
     pidProfile->smart_feedforward = false,
     pidProfile->iterm_relax = ITERM_RELAX_OFF,
-    pidProfile->iterm_relax_cutoff = 20,
+    pidProfile->iterm_relax_cutoff = 11,
     pidProfile->iterm_relax_type = ITERM_RELAX_SETPOINT,
     pidProfile->abs_control_gain = 0,
     pidProfile->launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,
@@ -529,12 +529,12 @@ TEST(pidControllerTest, testItermRelax) {
 
     applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
 
-    ASSERT_NEAR(-6.66, itermErrorRate, calculateTolerance(-6.66));
+    ASSERT_NEAR(-8.16, itermErrorRate, calculateTolerance(-6.66));
     currentPidSetpoint += ITERM_RELAX_SETPOINT_THRESHOLD;
     applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
-    EXPECT_FLOAT_EQ(itermErrorRate, 0);
+    ASSERT_NEAR(-2.17, itermErrorRate, calculateTolerance(-2.17));
     applyItermRelax(FD_PITCH, pidData[FD_PITCH].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
-    EXPECT_FLOAT_EQ(itermErrorRate, 0);
+    ASSERT_NEAR(-0.58, itermErrorRate, calculateTolerance(-0.58));
 
     pidProfile->iterm_relax_type = ITERM_RELAX_GYRO;
     pidInit(pidProfile);
@@ -578,7 +578,7 @@ TEST(pidControllerTest, testItermRelax) {
     pidProfile->iterm_relax = ITERM_RELAX_RPY;
     pidInit(pidProfile);
     applyItermRelax(FD_YAW, pidData[FD_YAW].I, gyroRate, &itermErrorRate, &currentPidSetpoint);
-    ASSERT_NEAR(-3.6, itermErrorRate, calculateTolerance(-3.6));
+    ASSERT_NEAR(-6.46, itermErrorRate, calculateTolerance(-3.6));
 }
 
 // TODO - Add more tests
-- 
2.11.4.GIT