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

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This commit is contained in:
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
+2
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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 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; } float getAccelBiasLimit() const { return _params.acc_bias_lim; }
const Vector3f &getMagEarthField() const { return _state.mag_I; }
// mag bias (states 19, 20, 21) // mag bias (states 19, 20, 21)
const Vector3f &getMagBias() const { return _state.mag_B; } const Vector3f &getMagBias() const { return _state.mag_B; }
Vector3f getMagBiasVariance() const Vector3f getMagBiasVariance() const
src/modules/ekf2/test/test_EKF_mag.cpp
+14
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@@ -83,6 +83,20 @@ TEST_F(EkfMagTest, fusionStartWithReset)
EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion()); EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1); EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1);
// AND WHEN: GNSS fusion starts
_ekf_wrapper.enableGpsFusion();
_sensor_simulator.startGps();
_sensor_simulator.runSeconds(11);
// THEN: the earth mag field is reset to the WMM
EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 2);
Vector3f mag_earth = _ekf->getMagEarthField();
float mag_decl = atan2f(mag_earth(1), mag_earth(0));
float mag_decl_wmm_deg = 0.f;
_ekf->get_mag_decl_deg(&mag_decl_wmm_deg);
EXPECT_NEAR(degrees(mag_decl), mag_decl_wmm_deg, 1e-6f);
} }
TEST_F(EkfMagTest, noInitLargeStrength) TEST_F(EkfMagTest, noInitLargeStrength)