ekf2: migrate mag declination to SymForce

2026-07-15 02:50:35 +08:00 · 2022-10-19 11:57:13 +02:00
parent 7786437a19
commit 2f3ea88099
5 changed files with 184 additions and 46 deletions
@@ -0,0 +1,84 @@
+/****************************************************************************
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+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include "EKF/ekf.h"
+#include "test_helper/comparison_helper.h"
+
+#include "../EKF/python/ekf_derivation/generated/compute_mag_declination_innov_innov_var_and_h.h"
+
+using namespace matrix;
+
+TEST(MagDeclinationGenerated, declination90deg)
+{
+	// GIVEN: an estimated mag declination of 90 degrees
+	Vector24f state_vector{};
+	state_vector(16) = 0.f; // North mag field
+	state_vector(17) = 0.2f; // East mag field
+
+	const float R = sq(radians(sq(0.5f)));
+	SquareMatrix24f P = createRandomCovarianceMatrix24f();
+
+	Vector24f H;
+	float innov;
+	float innov_var;
+
+	const float decl = radians(90.f);
+	sym::ComputeMagDeclinationInnovInnovVarAndH(state_vector, P, decl, R, FLT_EPSILON, &innov, &innov_var, &H);
+
+	// THEN: Even at the singularity point, atan2 is still defined
+	EXPECT_TRUE(innov_var < 5000.f && innov_var > R) << "innov_var = " << innov_var;
+	EXPECT_LT(fabsf(innov), 1e-6f);
+}
+
+TEST(MagDeclinationGenerated, declinationUndefined)
+{
+	// GIVEN: an undefined declination
+	Vector24f state_vector{};
+	state_vector(16) = 0.f; // North mag field
+	state_vector(17) = 0.f; // East mag field
+
+	const float R = sq(radians(sq(0.5f)));
+	SquareMatrix24f P = createRandomCovarianceMatrix24f();
+
+	Vector24f H;
+	float innov;
+	float innov_var;
+
+	const float decl = radians(0.f);
+	sym::ComputeMagDeclinationInnovInnovVarAndH(state_vector, P, decl, R, FLT_EPSILON, &innov, &innov_var, &H);
+
+	// THEN: the innovation variance is gigantic but finite
+	EXPECT_TRUE(PX4_ISFINITE(innov_var) && innov_var > R && innov_var > 1e9f) << "innov_var = " << innov_var;
+	EXPECT_LT(fabsf(innov), 1e-6f);
+}