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ekf2: integrate mag heading into mag 3D

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bresch
2024-03-25 11:57:27 +01:00
committed by Daniel Agar
parent 0c9e4013d2
commit 51883fe5d4
14 changed files with 66 additions and 265 deletions
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src/modules/ekf2/test/test_EKF_flow.cpp
+3 -3
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@@ -259,7 +259,6 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithAutopilotGyroData)
// THEN: the flow due to the yaw rotation and the offsets is canceled
// and the velocity estimate stays 0
// FIXME: the estimate isn't perfect 0 mainly because the mag simulated measurement isn't rotating
// and this creates an incorrect Z gyro bias which is used to compensate for the apparent flow
const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
EXPECT_NEAR(estimated_horz_velocity(0), 0.f, 0.02f)
<< "estimated vel = " << estimated_horz_velocity(0);
@@ -298,10 +297,11 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithFlowGyroData)
// THEN: the flow due to the yaw rotation and the offsets is canceled
// and the velocity estimate stays 0
// FIXME: the estimate isn't perfect 0 mainly because the mag simulated measurement isn't rotating
const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
EXPECT_NEAR(estimated_horz_velocity(0), 0.f, 0.01f)
EXPECT_NEAR(estimated_horz_velocity(0), 0.f, 0.02f)
<< "estimated vel = " << estimated_horz_velocity(0);
EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f)
EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.02f)
<< "estimated vel = " << estimated_horz_velocity(1);
_ekf->state().vector().print();
_ekf->covariances().print();