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ekf2: add unit test for earth mag field reset to WMM

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bresch
2023-07-24 09:52:52 +02:00
committed by Mathieu Bresciani
parent c8738e3a0d
commit 99824c445c
2 changed files with 16 additions and 0 deletions
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src/modules/ekf2/EKF/ekf.h
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@@ -372,6 +372,8 @@ public:
Vector3f getAccelBiasVariance() const { return Vector3f{P(13, 13), P(14, 14), P(15, 15)} / sq(_dt_ekf_avg); } // get the accelerometer bias variance in m/s**2
float getAccelBiasLimit() const { return _params.acc_bias_lim; }
const Vector3f &getMagEarthField() const { return _state.mag_I; }
// mag bias (states 19, 20, 21)
const Vector3f &getMagBias() const { return _state.mag_B; }
Vector3f getMagBiasVariance() const