PID: Fix test to respect integral updates being applied in the next i…

…teration Co-authored-by: chfriedrich98 <[email protected]>
PX4 · Nov 26, 2024 · a280d67 · a280d67
1 parent f9bcbc3
commit a280d67
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/src/lib/pid/PIDTest.cpp b/src/lib/pid/PIDTest.cpp
@@ -125,5 +125,6 @@ TEST(PIDTest, InteralOpenLoop)
 	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.05f);
 	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.05f);
 	pid.resetIntegral();
+	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), 0.f);
 	EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.01f);
 }