Removed Test of non-existent turbomath trig

rosflight · Oct 9, 2024 · 1d36ffd · 1d36ffd
1 parent 9e330d9
commit 1d36ffd
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Showing 3 changed files with 5 additions and 40 deletions.
diff --git a/lib/turbomath/turbomath.cpp b/lib/turbomath/turbomath.cpp
@@ -255,9 +255,7 @@ float fsign(float y) { return (0.0f < y) - (y < 0.0f); }
 // ISA standard atmosphere up to 11kft:
 float alt(float press)
 {
-#define ISA_PRESSURE (101325.0) // Pa
-#define ISA_EXPONENT (0.190326730028458)
-#define ISA_SCALE_FACTOR (44318.1386038261) //m
+
   return (1.0-pow(press/ISA_PRESSURE,ISA_EXPONENT))*ISA_SCALE_FACTOR;
 }
 

diff --git a/lib/turbomath/turbomath.h b/lib/turbomath/turbomath.h
@@ -39,6 +39,9 @@
 
 namespace turbomath
 {
+#define ISA_PRESSURE (101325.0) // Pa
+#define ISA_EXPONENT (0.190326730028458)
+#define ISA_SCALE_FACTOR (44318.1386038261) //m
 
 float fsign(float y);
 

diff --git a/test/turbotrig_test.cpp b/test/turbotrig_test.cpp
@@ -90,41 +90,6 @@ turbomath::Quaternion random_quaternions[25] = {
   turbomath::Quaternion(-0.177027678376, 0.214558558928, -0.992910369554, 0.592964390132),
   turbomath::Quaternion(0.0979109306209, 0.121890109199, 0.126418158551, 0.242200145606)};
 
-TEST(TurboMath, atan)
-{
-  for (float i = -200.0; i <= 200.0; i += 0.001) {
-    EXPECT_NEAR(turbomath::atan(i), atan(i), 0.0001);
-  }
-}
-
-TEST(TurboMath, sin_cos)
-{
-  for (float i = -200.0; i <= 200.0; i += 0.001) {
-    EXPECT_NEAR(turbomath::sin(i), sin(i), 0.0002);
-    EXPECT_NEAR(turbomath::cos(i), cos(i), 0.0002);
-  }
-}
-
-TEST(TurboMath, atan2)
-{
-  for (float i = -100.0; i <= 100.0; i += 0.1) {
-    for (float j = -1.0; j <= 1.0; j += 0.001) {
-      if (fabs(j) > 0.0001) { EXPECT_NEAR(turbomath::atan2(i, j), atan2(i, j), 0.001); }
-    }
-  }
-}
-
-TEST(TurboMath, asin)
-{
-  for (float i = -1.0; i <= 1.0; i += 0.001) {
-    if (fabs(i) < 0.95) {
-      EXPECT_NEAR(turbomath::asin(i), asin(i), 0.0001);
-    } else {
-      EXPECT_NEAR(turbomath::asin(i), asin(i), 0.2);
-    }
-  }
-}
-
 TEST(TurboMath, fastAlt)
 {
   // out of bounds
@@ -135,8 +100,7 @@ TEST(TurboMath, fastAlt)
   float trueResult = 0.0;
   for (int i = 69682; i < 106597; i++) {
     trueResult =
-      static_cast<float>((1.0 - pow(static_cast<float>(i) / 101325, 0.190284)) * 145366.45)
-      * static_cast<float>(0.3048);
+      static_cast<float>((1.0 - pow(static_cast<float>(i) /ISA_PRESSURE, ISA_EXPONENT)) * ISA_SCALE_FACTOR);
     EXPECT_NEAR(turbomath::alt(i), trueResult, .15);
     // arbitrarily chose <= .15m since fast_alt isn't accurate enough for EXPECT_CLOSE,
     // but being within .15 meters of the correct result seems pretty good to me