Update flight_imu_unittest.cc

betaflight · Apr 29, 2023 · b9121e9 · b9121e9
1 parent 273c65d
commit b9121e9
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diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
@@ -416,12 +416,14 @@ static float imuCalcKpGain(timeUs_t currentTimeUs, bool useAcc, float *gyroAvera
         ret = ATTITUDE_RESET_KP_GAIN;
     } else {
        ret = imuRuntimeConfig.dcm_kp;
+#ifdef USE_GPS_RESCUE
        if (FLIGHT_MODE(GPS_RESCUE_MODE)) {
             ret *= gpsRescueGetDcmKpModifier();
             // converge faster if groundspeed differs significantly from velocity to home during fly home phase
             // don't converge while climbing or rotating, keep the original IMU information, which in most cases should be OK
             // note that if there is significant drift away from nose orientation at the start of the rescue, this always gets locked in
         }
+#endif
        if (!armState) {
           ret = ret * 10.0f; // Scale the kP to generally converge faster when disarmed.
        }

diff --git a/src/test/unit/flight_imu_unittest.cc b/src/test/unit/flight_imu_unittest.cc
@@ -57,6 +57,7 @@ extern "C" {
 
     void imuComputeRotationMatrix(void);
     void imuUpdateEulerAngles(void);
+    void gpsRescueGetDcmKpModifier(void);
 
     extern quaternion q;
     extern float rMat[3][3];