From 1191a0efe62259b1d6f79c288d59366f34e74a6f Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 2 Aug 2020 12:26:48 -0400 Subject: [PATCH] Update ecl to geo_lookup, SymPy covariance, bugfixes Co-authored-by: Matthias Grob --- src/examples/fake_magnetometer/FakeMagnetometer.cpp | 6 +++--- src/lib/ecl | 2 +- .../attitude_estimator_q/attitude_estimator_q_main.cpp | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/examples/fake_magnetometer/FakeMagnetometer.cpp b/src/examples/fake_magnetometer/FakeMagnetometer.cpp index 7d9207c645..2c485049b2 100644 --- a/src/examples/fake_magnetometer/FakeMagnetometer.cpp +++ b/src/examples/fake_magnetometer/FakeMagnetometer.cpp @@ -71,9 +71,9 @@ void FakeMagnetometer::Run() const double lon = gps.lon / 1.e7; // magnetic field data returned by the geo library using the current GPS position - const float mag_declination_gps = math::radians(get_mag_declination(lat, lon)); - const float mag_inclination_gps = math::radians(get_mag_inclination(lat, lon)); - const float mag_strength_gps = 0.01f * get_mag_strength(lat, lon); // centi-Gauss (micro-Tesla) -> Gauss + const float mag_declination_gps = get_mag_declination_radians(lat, lon); + const float mag_inclination_gps = get_mag_inclination_radians(lat, lon); + const float mag_strength_gps = get_mag_strength_gauss(lat, lon); _mag_earth_pred = Dcmf(Eulerf(0, -mag_inclination_gps, mag_declination_gps)) * Vector3f(mag_strength_gps, 0, 0); diff --git a/src/lib/ecl b/src/lib/ecl index 5356077a32..77b11129fa 160000 --- a/src/lib/ecl +++ b/src/lib/ecl @@ -1 +1 @@ -Subproject commit 5356077a3244a9a29adfae4aeaaab900cd28e9e8 +Subproject commit 77b11129fa567160a2ec442438ed513cb9de89e7 diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp index 3b7fd2d38a..139b975290 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp @@ -316,7 +316,7 @@ AttitudeEstimatorQ::Run() if (_gps_sub.copy(&gps)) { if (_param_att_mag_decl_a.get() && (gps.eph < 20.0f)) { /* set magnetic declination automatically */ - update_mag_declination(math::radians(get_mag_declination(gps.lat, gps.lon))); + update_mag_declination(get_mag_declination_radians(gps.lat, gps.lon)); } } }