diff --git a/src/tests/catch/nas/test-nas.cpp b/src/tests/catch/nas/test-nas.cpp index cd64df421eea08b790b8adb58f4dda2f72efb689..27887f3cf909a51e4037cf5660c5e65dfa246fc1 100644 --- a/src/tests/catch/nas/test-nas.cpp +++ b/src/tests/catch/nas/test-nas.cpp @@ -72,13 +72,13 @@ TEST_CASE("NAS complete") // Predict gyro nas.predictGyro(gyro[i]); printf("[%d] Predicting gyroscope:\n", i); - printf("[%d] qx: %f.2/%f.2\n", i, nas.getState().qx, steps[i].gyro_gx); - printf("[%d] qy: %f.2/%f.2\n", i, nas.getState().qy, steps[i].gyro_gy); - printf("[%d] qz: %f.2/%f.2\n", i, nas.getState().qz, steps[i].gyro_gz); - printf("[%d] qw: %f.2/%f.2\n", i, nas.getState().qw, steps[i].gyro_gw); - printf("[%d] bx: %f.2/%f.2\n", i, nas.getState().bx, steps[i].gyro_gbx); - printf("[%d] by: %f.2/%f.2\n", i, nas.getState().by, steps[i].gyro_gby); - printf("[%d] bz: %f.2/%f.2\n", i, nas.getState().bz, steps[i].gyro_gbz); + printf("[%d] QX: %f.2/%f.2\n", i, nas.getState().qx, steps[i].gyro_gx); + printf("[%d] QX: %f.2/%f.2\n", i, nas.getState().qy, steps[i].gyro_gy); + printf("[%d] QX: %f.2/%f.2\n", i, nas.getState().qz, steps[i].gyro_gz); + printf("[%d] QW: %f.2/%f.2\n", i, nas.getState().qw, steps[i].gyro_gw); + printf("[%d] BX: %f.2/%f.2\n", i, nas.getState().bx, steps[i].gyro_gbx); + printf("[%d] BX: %f.2/%f.2\n", i, nas.getState().by, steps[i].gyro_gby); + printf("[%d] BX: %f.2/%f.2\n", i, nas.getState().bz, steps[i].gyro_gbz); // Correct gps nas.correctGPS(gps[i]); @@ -91,7 +91,7 @@ TEST_CASE("NAS complete") printf("[%d] VD: %f.2/%f.2\n", i, nas.getState().vd, steps[i].gps_vz); // Correct barometer - // nas.correctBaro(baro[i].pressure); + nas.correctBaro(baro[i].pressure); printf("[%d] Correcting barometer:\n", i); printf("[%d] N: %f.2/%f.2\n", i, nas.getState().n, steps[i].baro_x); printf("[%d] E: %f.2/%f.2\n", i, nas.getState().e, steps[i].baro_y); @@ -103,13 +103,13 @@ TEST_CASE("NAS complete") // Correct magnetometer nas.correctMag(mag[i]); printf("[%d] Correcting magnetometer:\n", i); - printf("[%d] qx: %f.2/%f.2\n", i, nas.getState().qx, steps[i].mag_gx); - printf("[%d] qy: %f.2/%f.2\n", i, nas.getState().qy, steps[i].mag_gy); - printf("[%d] qz: %f.2/%f.2\n", i, nas.getState().qz, steps[i].mag_gz); - printf("[%d] qw: %f.2/%f.2\n", i, nas.getState().qw, steps[i].mag_gw); - printf("[%d] bx: %f.2/%f.2\n", i, nas.getState().bx, steps[i].mag_gbx); - printf("[%d] by: %f.2/%f.2\n", i, nas.getState().by, steps[i].mag_gby); - printf("[%d] bz: %f.2/%f.2\n", i, nas.getState().bz, steps[i].mag_gbz); + printf("[%d] QX: %f.2/%f.2\n", i, nas.getState().qx, steps[i].mag_gx); + printf("[%d] QY: %f.2/%f.2\n", i, nas.getState().qy, steps[i].mag_gy); + printf("[%d] QZ: %f.2/%f.2\n", i, nas.getState().qz, steps[i].mag_gz); + printf("[%d] QW: %f.2/%f.2\n", i, nas.getState().qw, steps[i].mag_gw); + printf("[%d] BX: %f.2/%f.2\n", i, nas.getState().bx, steps[i].mag_gbx); + printf("[%d] BY: %f.2/%f.2\n", i, nas.getState().by, steps[i].mag_gby); + printf("[%d] BZ: %f.2/%f.2\n", i, nas.getState().bz, steps[i].mag_gbz); // Correct pitot nas.correctPitot(pitot[i].airspeed);