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ekf2: allow filter init with only IMU (#21041)

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- if mag enabled heading init is now pushed to controlMagFusion()
This commit is contained in:
Daniel Agar
2023-02-13 22:07:15 -05:00
committed by GitHub
parent d69d99b191
commit 2ea25804a1
9 changed files with 798 additions and 800 deletions
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src/modules/ekf2/test/test_EKF_mag.cpp
+2 -2
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@@ -78,7 +78,7 @@ TEST_F(EkfMagTest, fusionStartWithReset)
_sensor_simulator.runSeconds(_init_duration_s);
// THEN: the fusion initializes using the mag data and runs normally
EXPECT_NEAR(_ekf_wrapper.getYawAngle(), mag_heading, radians(0.1f));
EXPECT_NEAR(_ekf_wrapper.getYawAngle(), mag_heading, radians(1.f));
EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
@@ -114,7 +114,7 @@ TEST_F(EkfMagTest, suddenLargeStrength)
_sensor_simulator.runSeconds(_init_duration_s);
// THEN: the fusion initializes using the mag data and runs normally
EXPECT_NEAR(_ekf_wrapper.getYawAngle(), mag_heading, radians(0.1f));
EXPECT_NEAR(_ekf_wrapper.getYawAngle(), mag_heading, radians(1.f));
EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());