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mkdir build
cd build
cmake ..
make runUnitTests.o
./runUnitTests.o

5.1 Errors and fixes

Cannot find googletest

Uninitialized git submodules

This problem has many different manifestations. They include

• cannot find MadgwickAHRS.h

• cannot find googletest

A common error when compiling unit tests will be something in terms of cannot find googletest. That probably means you haven't initialized git submodules, so run git submodule update --init

Error: leaked mock object

As this error tells you, you have a leaked mock object, which was not deleted. There are multiple possible reasons for this:

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