From 90e58a00164ee771f7f2ce1b4df95af7558a2ffc Mon Sep 17 00:00:00 2001
From: Davide Basso <davide.basso@skywarder.eu>
Date: Sun, 21 Apr 2024 14:09:51 +0200
Subject: [PATCH] [NAS] Minor fixes
---
src/tests/catch/nas/test-nas.cpp | 30 +++++++++++++++---------------
1 file changed, 15 insertions(+), 15 deletions(-)
diff --git a/src/tests/catch/nas/test-nas.cpp b/src/tests/catch/nas/test-nas.cpp
index cd64df421..27887f3cf 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);
--
GitLab