geo_lookup: upgrade table size (2 bytes per element) and add testing

- updated table to 2 bytes (int16) per element and scaled the inclination/declination/strength tables to use most of the range without being too awkward
 - tables have been extended to include the full latitude range
 - expanded the API slightly to offer declination/inclination in both degrees/radians and the magnetic strength in Gauss and Tesla
 - generated some simple testing that verifies interpolation between points

EKF/gps_checks.cpp

@@ -80,9 +80,9 @@ bool Ekf::collect_gps(const gps_message &gps)
 		_last_gps_origin_time_us = _time_last_imu;
 
 		// set the magnetic field data returned by the geo library using the current GPS position
-		_mag_declination_gps = math::radians(get_mag_declination(lat, lon));
-		_mag_inclination_gps = math::radians(get_mag_inclination(lat, lon));
-		_mag_strength_gps = 0.01f * get_mag_strength(lat, lon);
+		_mag_declination_gps = get_mag_declination_radians(lat, lon);
+		_mag_inclination_gps = get_mag_inclination_radians(lat, lon);
+		_mag_strength_gps = get_mag_strength_tesla(lat, lon);
 
 		// request a reset of the yaw using the new declination
 		if (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE) {

geo_lookup/CMakeLists.txt

@@ -33,7 +33,9 @@
 
 add_library(ecl_geo_lookup
 	geo_mag_declination.cpp
-	)
+	geo_mag_declination.h
+	geo_magnetic_tables.hpp
+)
 add_dependencies(ecl_geo_lookup prebuild_targets)
 target_compile_definitions(ecl_geo_lookup PRIVATE -DMODULE_NAME="ecl/geo_lookup")
 target_include_directories(ecl_geo_lookup PUBLIC ${ECL_SOURCE_DIR})

geo_lookup/fetch_noaa_table.py

@@ -32,12 +32,13 @@
 #
 ############################################################################
 
+import math
 import json
 import urllib.request
 
 SAMPLING_RES = 10
-SAMPLING_MIN_LAT = -80
-SAMPLING_MAX_LAT = 80
+SAMPLING_MIN_LAT = -90
+SAMPLING_MAX_LAT = 90
 SAMPLING_MIN_LON = -180
 SAMPLING_MAX_LON = 180
 
@@ -98,21 +99,25 @@ print('\n')
 params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'd', 'resultFormat': 'json'})
 f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
 data = json.loads(f.read())
-print("// Magnetic declination data in degrees")
+print("// Magnetic declination data in radians * 10^-4")
 print('// Model: {},'.format(data['model']))
 print('// Version: {},'.format(data['version']))
 print('// Date: {},'.format(data['result'][0]['date']))
-print('static constexpr const int8_t declination_table[{}][{}]'.format(LAT_DIM, LON_DIM) + " {")
+print('static constexpr const int16_t declination_table[{}][{}]'.format(LAT_DIM, LON_DIM) + " {")
+print('//    LONGITUDE: ', end='')
+for l in range(SAMPLING_MIN_LON, SAMPLING_MAX_LON+1, SAMPLING_RES):
+    print('{0:6d},'.format(l), end='')
+print('')
 for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
     params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'd', 'resultFormat': 'json'})
     f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
     data = json.loads(f.read())
 
-
-    print('	{ ', end='')
+    print('/* LAT: {0:3d} */'.format(latitude) + ' { ', end='')
     for p in data['result']:
-        declination_int = constrain(int(round(p['declination'])), 127, -128)
-        print('{0:4d},'.format(declination_int), end='')
+        # declination in radians * 10^-4
+        declination_int = constrain(int(round(math.radians(p['declination'] * 10000))), 32767, -32768)
+        print('{0:6d},'.format(declination_int), end='')
 
     print(' },')
 print("};\n")
@@ -121,20 +126,25 @@ print("};\n")
 params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'i', 'resultFormat': 'json'})
 f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
 data = json.loads(f.read())
-print("// Magnetic inclination data in degrees")
+print("// Magnetic inclination data in radians * 10^-4")
 print('// Model: {},'.format(data['model']))
 print('// Version: {},'.format(data['version']))
 print('// Date: {},'.format(data['result'][0]['date']))
-print('static constexpr const int8_t inclination_table[{}][{}]'.format(LAT_DIM, LON_DIM) + " {")
+print('static constexpr const int16_t inclination_table[{}][{}]'.format(LAT_DIM, LON_DIM) + " {")
+print('//    LONGITUDE: ', end='')
+for l in range(SAMPLING_MIN_LON, SAMPLING_MAX_LON+1, SAMPLING_RES):
+    print('{0:6d},'.format(l), end='')
+print('')
 for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
     params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'i', 'resultFormat': 'json'})
     f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
     data = json.loads(f.read())
 
-    print('	{ ', end='')
+    print('/* LAT: {0:3d} */'.format(latitude) + ' { ', end='')
     for p in data['result']:
-        inclination_int = constrain(int(round(p['inclination'])), 127, -128)
-        print('{0:4d},'.format(inclination_int), end='')
+        # inclination in radians * 10^-4
+        inclination_int = constrain(int(round(math.radians(p['inclination'] * 10000))), 32767, -32768)
+        print('{0:6d},'.format(inclination_int), end='')
 
     print(' },')
 print("};\n")
@@ -143,20 +153,24 @@ print("};\n")
 params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'i', 'resultFormat': 'json'})
 f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
 data = json.loads(f.read())
-print("// Magnetic strength data in micro-Tesla or centi-Gauss")
+print("// Magnetic strength data in milli-Gauss * 10")
 print('// Model: {},'.format(data['model']))
 print('// Version: {},'.format(data['version']))
 print('// Date: {},'.format(data['result'][0]['date']))
-print('static constexpr const int8_t strength_table[{}][{}]'.format(LAT_DIM, LON_DIM) + " {")
+print('static constexpr const int16_t strength_table[{}][{}]'.format(LAT_DIM, LON_DIM) + " {")
+print('//    LONGITUDE: ', end='')
+for l in range(SAMPLING_MIN_LON, SAMPLING_MAX_LON+1, SAMPLING_RES):
+    print('{0:5d},'.format(l), end='')
+print('')
 for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
     params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'f', 'resultFormat': 'json'})
     f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
     data = json.loads(f.read())
 
-    print('	{ ', end='')
+    print('/* LAT: {0:3d} */'.format(latitude) + ' { ', end='')
     for p in data['result']:
-        totalintensity_int = int(round(p['totalintensity'] / 1000))
-        print('{0:4d},'.format(totalintensity_int), end='')
+        totalintensity_int = int(round(p['totalintensity']/10))
+        print('{0:5d},'.format(totalintensity_int), end='')
 
     print(' },')
 print("};")

geo_lookup/generate_gtest.py

@@ -0,0 +1,140 @@
+#!/usr/bin/env python3
+############################################################################
+#
+#   Copyright (c) 2020 ECL Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name ECL nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+import json
+import urllib.request
+
+SAMPLING_RES = 5
+SAMPLING_MIN_LAT = -50
+SAMPLING_MAX_LAT = 60
+SAMPLING_MIN_LON = -180
+SAMPLING_MAX_LON = 180
+
+header = """/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include <math.h>
+#include <mathlib/mathlib.h>
+
+#include <geo_lookup/geo_mag_declination.h>
+"""
+
+print(header)
+
+print('')
+
+# Declination
+params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'd', 'resultFormat': 'json'})
+f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
+data = json.loads(f.read())
+
+
+print('TEST(GeoLookupTest, declination) {')
+for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
+    params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'd', 'resultFormat': 'json'})
+    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
+    data = json.loads(f.read())
+
+    for p in data['result']:
+        error = 1
+
+        # thing start getting worse here
+        if latitude <= -44:
+            error = 2
+
+        print('\tEXPECT_NEAR(get_mag_declination_degrees({}, {}), {}, {} + {});'.format(p['latitude'], p['longitude'], p['declination'], p['declination_uncertainty'], error))
+print('}')
+
+print('')
+
+print('TEST(GeoLookupTest, inclination) {')
+for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
+    params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'i', 'resultFormat': 'json'})
+    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
+    data = json.loads(f.read())
+
+    for p in data['result']:
+        error = 1.2
+
+        # thing start getting worse here
+        if latitude <= -44:
+            error = 2
+
+        print('\tEXPECT_NEAR(get_mag_inclination_degrees({}, {}), {}, {} + {});'.format(p['latitude'], p['longitude'], p['inclination'], p['inclination_uncertainty'], error))
+print('}')
+
+print('')
+
+print('TEST(GeoLookupTest, strength) {')
+for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
+    params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'f', 'resultFormat': 'json'})
+    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
+    data = json.loads(f.read())
+
+    for p in data['result']:
+        error = 500
+
+        print('\tEXPECT_NEAR(get_mag_strength_tesla({}, {}) * 1e9, {}, {} + {});'.format(p['latitude'], p['longitude'], p['totalintensity'], p['totalintensity_uncertainty'], error))
+print('}')

geo_lookup/geo_mag_declination.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved.
+ *   Copyright (c) 2014-2020 Estimation and Control Library (ECL). All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -12,7 +12,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name MAVGEO nor the names of its contributors may be
+ * 3. Neither the name ECL nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
@@ -66,16 +66,16 @@ static constexpr unsigned get_lookup_table_index(float *val, float min, float ma
 	return static_cast<unsigned>((-(min) + *val) / SAMPLING_RES);
 }
 
-static constexpr float get_table_data(float lat, float lon, const int8_t table[LAT_DIM][LON_DIM])
+static constexpr float get_table_data(float lat, float lon, const int16_t table[LAT_DIM][LON_DIM])
 {
-	/*
-	 * If the values exceed valid ranges, return zero as default
-	 * as we have no way of knowing what the closest real value
-	 * would be.
-	 */
-	if (lat < -90.0f || lat > 90.0f ||
-	    lon < -180.0f || lon > 180.0f) {
-		return 0.0f;
+	lat = math::constrain(lat, SAMPLING_MIN_LAT, SAMPLING_MAX_LAT);
+
+	if (lon > SAMPLING_MAX_LON) {
+		lon -= 360;
+	}
+
+	if (lon < SAMPLING_MIN_LON) {
+		lon += 360;
 	}
 
 	/* round down to nearest sampling resolution */
@@ -101,17 +101,28 @@ static constexpr float get_table_data(float lat, float lon, const int8_t table[L
 	return lat_scale * (data_max - data_min) + data_min;
 }
 
-float get_mag_declination(float lat, float lon)
-{
-	return get_table_data(lat, lon, declination_table);
+float get_mag_declination_radians(float lat, float lon) {
+	return get_table_data(lat, lon, declination_table) * 1e-4f; // declination table stored as 10^-4 radians
 }
 
-float get_mag_inclination(float lat, float lon)
-{
-	return get_table_data(lat, lon, inclination_table);
+float get_mag_declination_degrees(float lat, float lon) {
+	return math::degrees(get_mag_declination_radians(lat, lon));
 }
 
-float get_mag_strength(float lat, float lon)
-{
-	return get_table_data(lat, lon, strength_table);
+float get_mag_inclination_radians(float lat, float lon) {
+	return get_table_data(lat, lon, inclination_table) * 1e-4f; // inclination table stored as 10^-4 radians
+}
+
+float get_mag_inclination_degrees(float lat, float lon) {
+	return math::degrees(get_mag_inclination_radians(lat, lon));
+}
+
+float get_mag_strength_gauss(float lat, float lon)
+{
+	return get_table_data(lat, lon, strength_table) * 1e-4f; // strength table table stored as milli-Gauss * 10
+}
+
+float get_mag_strength_tesla(float lat, float lon)
+{
+	return get_mag_strength_gauss(lat, lon) * 1e-4f; // 1 Gauss == 0.0001 Tesla
 }

geo_lookup/geo_mag_declination.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved.
+ *   Copyright (c) 2014-2020 Estimation and Control Library (ECL). All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -12,7 +12,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name MAVGEO nor the names of its contributors may be
+ * 3. Neither the name ECL nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
@@ -41,11 +41,14 @@
 
 #pragma once
 
-// Return magnetic declination in degrees
-float get_mag_declination(float lat, float lon);
+// Return magnetic declination in degrees or radians
+float get_mag_declination_degrees(float lat, float lon);
+float get_mag_declination_radians(float lat, float lon);
 
-// Return magnetic field inclination in degrees
-float get_mag_inclination(float lat, float lon);
+// Return magnetic field inclination in degrees or radians
+float get_mag_inclination_degrees(float lat, float lon);
+float get_mag_inclination_radians(float lat, float lon);
 
-// return magnetic field strength in centi-Tesla
-float get_mag_strength(float lat, float lon);
+// return magnetic field strength in Gauss or Tesla
+float get_mag_strength_gauss(float lat, float lon);
+float get_mag_strength_tesla(float lat, float lon);

geo_lookup/geo_magnetic_tables.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020 Estimation and Control Library (ECL). All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -12,7 +12,7 @@
  *    notice, this list of conditions and the following disclaimer in
  *    the documentation and/or other materials provided with the
  *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
+ * 3. Neither the name ECL nor the names of its contributors may be
  *    used to endorse or promote products derived from this software
  *    without specific prior written permission.
  *
@@ -34,83 +34,92 @@
 #include <stdint.h>
 
 static constexpr float SAMPLING_RES = 10;
-static constexpr float SAMPLING_MIN_LAT = -80;
-static constexpr float SAMPLING_MAX_LAT = 80;
+static constexpr float SAMPLING_MIN_LAT = -90;
+static constexpr float SAMPLING_MAX_LAT = 90;
 static constexpr float SAMPLING_MIN_LON = -180;
 static constexpr float SAMPLING_MAX_LON = 180;
 
-static constexpr int LAT_DIM = 17;
+static constexpr int LAT_DIM = 19;
 static constexpr int LON_DIM = 37;
 
 
-// Magnetic declination data in degrees
+// Magnetic declination data in radians * 10^-4
 // Model: WMM-2020,
 // Version: 0.5.1.11,
-// Date: 2020.4755,
-static constexpr const int8_t declination_table[17][37] {
-	{  127, 117, 106,  96,  87,  78,  69,  61,  53,  46,  38,  30,  23,  15,   8,   0,  -7, -15, -23, -31, -40, -49, -58, -67, -77, -86, -97,-107,-119,-128,-128,-128,-128, 127, 127, 127, 127, },
-	{   86,  78,  71,  66,  61,  56,  51,  46,  41,  35,  29,  23,  16,  10,   4,  -1,  -7, -14, -20, -28, -36, -44, -52, -60, -68, -77, -85, -93,-102,-113,-128,-128, 127, 127, 112,  96,  86, },
-	{   48,  47,  45,  43,  42,  41,  39,  37,  33,  28,  23,  16,  10,   4,  -1,  -6, -10, -14, -20, -27, -34, -42, -50, -57, -63, -68, -72, -75, -76, -73, -61, -21,  27,  43,  48,  49,  48, },
-	{   31,  31,  31,  31,  30,  30,  30,  29,  27,  24,  18,  11,   3,  -4,  -9, -12, -15, -17, -21, -27, -34, -41, -47, -53, -56, -58, -57, -52, -44, -30, -14,   2,  14,  22,  27,  30,  31, },
-	{   22,  23,  23,  23,  23,  22,  22,  22,  22,  19,  13,   5,  -4, -12, -17, -20, -21, -22, -22, -25, -31, -37, -42, -45, -46, -44, -39, -31, -21, -11,  -3,   4,  10,  15,  19,  21,  22, },
-	{   17,  17,  18,  18,  17,  17,  17,  16,  16,  13,   7,  -1, -11, -18, -22, -24, -25, -24, -22, -20, -22, -26, -30, -32, -32, -28, -23, -16,  -9,  -3,   0,   4,   7,  11,  14,  16,  17, },
-	{   13,  14,  14,  14,  14,  13,  13,  12,  11,   9,   3,  -6, -14, -21, -24, -25, -24, -21, -16, -11,  -9, -11, -15, -17, -18, -16, -12,  -8,  -3,   0,   1,   3,   6,   8,  11,  12,  13, },
-	{   11,  11,  11,  11,  11,  10,  10,   9,   8,   5,  -1,  -9, -16, -21, -23, -22, -18, -14,  -9,  -5,  -2,  -2,  -4,  -7,  -9,  -8,  -6,  -4,  -1,   1,   1,   2,   4,   7,   9,  10,  11, },
-	{   10,  10,   9,   9,   9,   9,   8,   8,   6,   3,  -3, -10, -16, -20, -20, -17, -13,  -8,  -5,  -1,   1,   2,   0,  -2,  -4,  -4,  -3,  -2,   0,   0,   0,   1,   3,   5,   7,   9,  10, },
-	{    9,   9,   9,   9,   9,   9,   8,   7,   5,   1,  -5, -11, -16, -18, -17, -14,  -9,  -5,  -2,   0,   2,   3,   2,   0,  -1,  -2,  -2,  -1,  -1,  -1,  -1,  -1,   0,   3,   6,   8,   9, },
-	{    8,   9,   9,  10,  10,  10,  10,   8,   5,   0,  -6, -12, -15, -16, -14, -11,  -7,  -3,   0,   1,   3,   4,   3,   2,   1,   0,   0,  -1,  -1,  -2,  -3,  -4,  -2,   0,   3,   6,   8, },
-	{    6,   9,  10,  11,  12,  12,  11,   9,   5,  -1,  -8, -13, -15, -15, -13, -10,  -6,  -2,   0,   2,   4,   5,   4,   4,   3,   2,   1,   0,  -1,  -4,  -6,  -7,  -6,  -3,   0,   3,   6, },
-	{    4,   8,  11,  13,  14,  15,  13,  10,   5,  -2,  -9, -14, -16, -15, -13, -10,  -6,  -2,   1,   3,   4,   6,   6,   6,   6,   5,   4,   1,  -2,  -5,  -8, -10,  -9,  -7,  -3,   1,   4, },
-	{    3,   7,  11,  14,  16,  17,  16,  12,   5,  -3, -12, -17, -19, -18, -15, -11,  -7,  -3,   0,   3,   6,   8,   9,  10,  11,  10,   7,   3,  -2,  -7, -11, -13, -12,  -9,  -6,  -1,   3, },
-	{    2,   7,  12,  15,  18,  19,  18,  13,   5,  -7, -17, -23, -24, -23, -19, -15, -10,  -5,  -1,   4,   8,  11,  14,  17,  18,  17,  13,   7,  -1,  -9, -14, -15, -15, -12,  -8,  -3,   2, },
-	{    1,   6,  12,  16,  20,  21,  20,  13,  -1, -17, -28, -33, -33, -30, -25, -20, -14,  -8,  -2,   4,  10,  16,  21,  25,  28,  28,  25,  17,   4,  -8, -15, -18, -17, -14,  -9,  -4,   1, },
-	{   -2,   4,   8,  13,  15,  13,   5, -12, -32, -44, -48, -47, -43, -37, -31, -24, -16,  -9,  -1,   7,  14,  22,  29,  35,  41,  45,  47,  45,  35,  15,  -5, -15, -17, -16, -12,  -7,  -2, },
+// Date: 2020.5465,
+static constexpr const int16_t declination_table[19][37] {
+//    LONGITUDE:   -180,  -170,  -160,  -150,  -140,  -130,  -120,  -110,  -100,   -90,   -80,   -70,   -60,   -50,   -40,   -30,   -20,   -10,     0,    10,    20,    30,    40,    50,    60,    70,    80,    90,   100,   110,   120,   130,   140,   150,   160,   170,   180,
+/* LAT: -90 */ {  26037, 24292, 22546, 20801, 19056, 17310, 15565, 13820, 12074, 10329,  8584,  6839,  5093,  3348,  1603,  -143, -1888, -3633, -5378, -7124, -8869,-10614,-12360,-14105,-15850,-17596,-19341,-21086,-22832,-24577,-26322,-28068,-29813, 31273, 29528, 27782, 26037, },
+/* LAT: -80 */ {  22609, 20470, 18525, 16746, 15103, 13562, 12097, 10684,  9308,  7957,  6624,  5305,  3995,  2690,  1383,    65, -1273, -2642, -4048, -5496, -6986, -8518,-10092,-11707,-13368,-15083,-16865,-18733,-20712,-22826,-25097,-27530,-30100, 30088, 27463, 24948, 22609, },
+/* LAT: -70 */ {  14960, 13566, 12446, 11490, 10628,  9801,  8964,  8080,  7130,  6112,  5042,  3947,  2859,  1801,   776,  -235, -1269, -2368, -3560, -4850, -6222, -7644, -9086,-10524,-11947,-13360,-14785,-16264,-17877,-19772,-22260,-26012, 30904, 24228, 19632, 16835, 14960, },
+/* LAT: -60 */ {   8355,  8123,  7855,  7593,  7350,  7106,  6806,  6381,  5773,  4959,  3962,  2850,  1726,   688,  -206,  -973, -1704, -2517, -3504, -4682, -5996, -7354, -8670, -9879,-10946,-11849,-12569,-13067,-13238,-12788,-10709, -3667,  4688,  7516,  8326,  8474,  8355, },
+/* LAT: -50 */ {   5434,  5477,  5430,  5350,  5286,  5257,  5229,  5110,  4775,  4122,  3121,  1853,   507,  -689, -1584, -2172, -2581, -3015, -3674, -4652, -5866, -7128, -8267, -9177, -9789,-10046, -9872, -9134, -7642, -5294, -2398,   347,  2454,  3877,  4751,  5226,  5434, },
+/* LAT: -40 */ {   3917,  4013,  4028,  3993,  3941,  3914,  3925,  3920,  3754,  3233,  2226,   795,  -773, -2109, -3003, -3484, -3690, -3761, -3911, -4428, -5355, -6413, -7304, -7863, -7997, -7649, -6785, -5413, -3695, -1981,  -512,   712,  1752,  2610,  3260,  3687,  3917, },
+/* LAT: -30 */ {   2952,  3040,  3079,  3075,  3026,  2955,  2901,  2871,  2749,  2285,  1272,  -230, -1841, -3120, -3892, -4265, -4371, -4192, -3765, -3492, -3787, -4507, -5217, -5595, -5501, -4942, -3999, -2789, -1562,  -600,    87,   689,  1308,  1900,  2401,  2756,  2952, },
+/* LAT: -20 */ {   2310,  2358,  2386,  2400,  2368,  2282,  2182,  2110,  1967,  1484,   453, -1017, -2503, -3593, -4162, -4310, -4136, -3609, -2760, -1930, -1596, -1911, -2557, -3047, -3109, -2772, -2146, -1323,  -529,   -23,   250,   555,   989,  1454,  1864,  2162,  2310, },
+/* LAT: -10 */ {   1916,  1912,  1902,  1911,  1894,  1820,  1720,  1636,  1454,   914,  -127, -1492, -2778, -3640, -3949, -3757, -3205, -2435, -1588,  -816,  -322,  -321,  -771, -1284, -1515, -1439, -1132,  -628,  -117,   139,   200,   365,   727,  1148,  1528,  1803,  1916, },
+/* LAT:   0 */ {   1704,  1673,  1628,  1631,  1630,  1572,  1480,  1376,  1126,   513,  -515, -1739, -2811, -3432, -3472, -3003, -2246, -1461,  -799,  -254,   170,   304,    46,  -371,  -636,  -699,  -601,  -334,   -34,    67,    19,   114,   445,   870,  1275,  1582,  1704, },
+/* LAT:  10 */ {   1573,  1584,  1551,  1577,  1612,  1574,  1466,  1290,   918,   204,  -813, -1894, -2741, -3114, -2944, -2360, -1587,  -868,  -340,    47,   378,   540,   394,    74,  -168,  -276,  -294,  -207,   -95,  -126,  -254,  -223,    70,   508,   974,  1370,  1573, },
+/* LAT:  20 */ {   1401,  1552,  1619,  1718,  1811,  1800,  1657,  1366,   825,   -31, -1077, -2041, -2662, -2800, -2496, -1907, -1198,  -541,   -70,   247,   510,   665,   586,   344,   140,    24,   -58,  -113,  -184,  -366,  -596,  -652,  -427,     8,   538,  1048,  1401, },
+/* LAT:  30 */ {   1117,  1485,  1748,  1975,  2138,  2155,  1976,  1562,   838,  -194, -1323, -2220, -2660, -2620, -2235, -1663, -1008,  -385,    87,   400,   637,   791,   780,   634,   482,   359,   213,    17,  -255,  -623,  -989, -1151,  -999,  -582,   -12,   596,  1117, },
+/* LAT:  40 */ {    779,  1367,  1861,  2253,  2502,  2548,  2337,  1808,   896,  -340, -1598, -2490, -2834, -2696, -2257, -1668, -1015,  -382,   136,   509,   786,   992,  1096,  1090,  1013,   869,   613,   221,  -304,  -905, -1429, -1680, -1572, -1161,  -562,   115,   779, },
+/* LAT:  50 */ {    512,  1262,  1942,  2494,  2857,  2960,  2730,  2073,   923,  -594, -2046, -2986, -3297, -3113, -2626, -1981, -1269,  -567,    56,   570,   995,  1359,  1648,  1827,  1851,  1674,  1247,   562,  -316, -1217, -1906, -2206, -2090, -1648, -1006,  -262,   512, },
+/* LAT:  60 */ {    349,  1208,  2013,  2702,  3197,  3400,  3174,  2345,   799, -1206, -2961, -3960, -4217, -3954, -3378, -2627, -1796,  -949,  -134,   624,  1323,  1961,  2513,  2920,  3093,  2926,  2316,  1231,  -165, -1491, -2380, -2705, -2544, -2043, -1334,  -515,   349, },
+/* LAT:  70 */ {    175,  1122,  2023,  2819,  3425,  3703,  3422,  2223,  -133, -2958, -4940, -5748, -5731, -5225, -4437, -3488, -2451, -1375,  -292,   776,  1808,  2781,  3657,  4375,  4838,  4895,  4325,  2907,   756, -1350, -2670, -3128, -2968, -2425, -1657,  -768,   175, },
+/* LAT:  80 */ {   -323,   608,  1470,  2169,  2549,  2319,   952, -2047, -5590, -7716, -8359, -8134, -7436, -6470, -5343, -4118, -2832, -1511,  -174,  1163,  2483,  3770,  5000,  6140,  7137,  7898,  8250,  7845,  6058,  2562,  -897, -2647, -3061, -2763, -2099, -1251,  -323, },
+/* LAT:  90 */ { -30581,-28835,-27090,-25344,-23599,-21854,-20108,-18363,-16618,-14872,-13127,-11382, -9637, -7891, -6146, -4401, -2656,  -911,   834,  2580,  4325,  6070,  7815,  9561, 11306, 13051, 14797, 16542, 18287, 20033, 21778, 23524, 25269, 27015, 28760, 30506,-30581, },
 };
 
-// Magnetic inclination data in degrees
+// Magnetic inclination data in radians * 10^-4
 // Model: WMM-2020,
 // Version: 0.5.1.11,
-// Date: 2020.4755,
-static constexpr const int8_t inclination_table[17][37] {
-	{  -78, -78, -77, -76, -75, -73, -72, -71, -70, -69, -68, -67, -67, -66, -66, -66, -65, -65, -66, -66, -66, -67, -68, -69, -70, -71, -73, -74, -75, -76, -77, -78, -79, -79, -79, -79, -78, },
-	{  -81, -79, -77, -75, -74, -72, -69, -67, -65, -64, -62, -61, -60, -60, -60, -60, -60, -60, -60, -61, -61, -62, -64, -66, -68, -70, -73, -75, -78, -80, -83, -85, -86, -86, -84, -83, -81, },
-	{  -78, -76, -74, -72, -70, -68, -65, -63, -60, -57, -55, -54, -54, -55, -56, -57, -58, -59, -59, -58, -59, -60, -61, -63, -66, -69, -73, -76, -80, -83, -86, -87, -86, -84, -82, -80, -78, },
-	{  -72, -70, -68, -66, -64, -62, -60, -57, -54, -51, -49, -48, -49, -52, -55, -58, -60, -61, -61, -60, -59, -59, -61, -63, -66, -69, -73, -76, -78, -80, -81, -80, -79, -77, -76, -74, -72, },
-	{  -64, -62, -60, -58, -57, -55, -53, -50, -47, -44, -41, -41, -43, -48, -53, -58, -62, -65, -66, -65, -63, -61, -61, -63, -65, -68, -71, -73, -74, -74, -73, -72, -71, -70, -68, -66, -64, },
-	{  -55, -53, -51, -49, -46, -44, -42, -40, -37, -33, -31, -31, -35, -42, -49, -55, -61, -65, -67, -68, -66, -63, -61, -61, -62, -64, -65, -66, -66, -65, -64, -63, -62, -61, -59, -57, -55, },
-	{  -42, -40, -37, -35, -32, -30, -28, -25, -22, -18, -15, -17, -23, -32, -41, -49, -55, -60, -63, -63, -61, -58, -54, -53, -53, -54, -55, -55, -54, -53, -51, -51, -50, -49, -47, -45, -42, },
-	{  -25, -22, -20, -17, -15, -12, -10,  -7,  -3,   1,   3,   1,  -6, -17, -29, -38, -45, -48, -50, -50, -48, -44, -40, -38, -38, -38, -39, -39, -38, -36, -35, -35, -35, -34, -32, -29, -25, },
-	{   -5,  -2,   1,   3,   5,   8,  10,  13,  16,  20,  21,  18,  11,   0, -11, -21, -27, -30, -30, -29, -27, -23, -19, -17, -16, -17, -17, -18, -17, -16, -15, -16, -16, -15, -13,  -9,  -5, },
-	{   15,  18,  21,  22,  25,  27,  29,  31,  34,  36,  36,  34,  28,  19,   9,   1,  -4,  -5,  -5,  -4,  -1,   2,   6,   8,   8,   8,   7,   7,   7,   7,   7,   6,   5,   5,   7,  11,  15, },
-	{   31,  34,  36,  38,  40,  42,  44,  46,  48,  49,  48,  46,  41,  35,  29,  23,  20,  19,  20,  21,  23,  26,  28,  30,  30,  30,  30,  29,  29,  29,  28,  27,  25,  25,  25,  28,  31, },
-	{   43,  45,  47,  49,  51,  53,  55,  57,  58,  59,  58,  56,  52,  48,  45,  42,  40,  39,  40,  41,  43,  44,  46,  47,  47,  47,  47,  47,  47,  47,  46,  44,  42,  40,  40,  41,  43, },
-	{   53,  54,  56,  57,  59,  61,  64,  66,  67,  68,  67,  65,  62,  59,  57,  55,  54,  54,  55,  56,  57,  58,  59,  59,  60,  60,  61,  61,  61,  60,  59,  57,  55,  53,  52,  52,  53, },
-	{   62,  63,  64,  65,  67,  69,  71,  73,  74,  75,  74,  72,  70,  68,  67,  66,  65,  65,  65,  66,  66,  67,  68,  68,  69,  70,  70,  71,  71,  70,  69,  67,  65,  63,  62,  62,  62, },
-	{   71,  71,  72,  73,  75,  76,  78,  80,  81,  81,  80,  79,  77,  75,  74,  73,  73,  73,  73,  73,  73,  74,  74,  75,  76,  77,  78,  79,  79,  78,  77,  75,  73,  72,  71,  71,  71, },
-	{   79,  79,  80,  81,  82,  83,  84,  85,  86,  85,  85,  83,  82,  81,  80,  79,  79,  78,  78,  78,  79,  79,  80,  80,  81,  82,  83,  84,  84,  84,  83,  82,  81,  80,  79,  79,  79, },
-	{   86,  86,  86,  87,  87,  88,  88,  88,  88,  88,  87,  86,  86,  85,  84,  84,  83,  83,  83,  83,  83,  84,  84,  85,  85,  86,  87,  87,  88,  88,  88,  88,  87,  87,  86,  86,  86, },
+// Date: 2020.5465,
+static constexpr const int16_t inclination_table[19][37] {
+//    LONGITUDE:   -180,  -170,  -160,  -150,  -140,  -130,  -120,  -110,  -100,   -90,   -80,   -70,   -60,   -50,   -40,   -30,   -20,   -10,     0,    10,    20,    30,    40,    50,    60,    70,    80,    90,   100,   110,   120,   130,   140,   150,   160,   170,   180,
+/* LAT: -90 */ { -12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584,-12584, },
+/* LAT: -80 */ { -13672,-13539,-13378,-13198,-13004,-12801,-12597,-12395,-12204,-12027,-11869,-11734,-11624,-11537,-11474,-11433,-11413,-11416,-11444,-11498,-11581,-11695,-11839,-12011,-12209,-12425,-12654,-12887,-13115,-13328,-13515,-13667,-13772,-13825,-13823,-13770,-13672, },
+/* LAT: -70 */ { -14123,-13805,-13486,-13162,-12829,-12484,-12128,-11769,-11423,-11112,-10857,-10671,-10557,-10503,-10490,-10496,-10507,-10520,-10545,-10602,-10709,-10881,-11124,-11435,-11805,-12220,-12667,-13130,-13596,-14049,-14469,-14818,-15013,-14965,-14736,-14439,-14123, },
+/* LAT: -60 */ { -13529,-13177,-12840,-12508,-12164,-11791,-11375,-10919,-10449,-10015, -9679, -9496, -9487, -9620, -9826,-10025,-10160,-10215,-10210,-10199,-10244,-10397,-10677,-11078,-11570,-12122,-12707,-13302,-13891,-14452,-14948,-15240,-15074,-14695,-14291,-13900,-13529, },
+/* LAT: -50 */ { -12500,-12161,-11832,-11511,-11188,-10841,-10441, -9968, -9435, -8909, -8509, -8370, -8558, -9011, -9577,-10099,-10475,-10656,-10645,-10505,-10362,-10357,-10562,-10964,-11497,-12086,-12673,-13215,-13665,-13966,-14076,-14004,-13802,-13520,-13193,-12847,-12500, },
+/* LAT: -40 */ { -11240,-10896,-10553,-10209, -9870, -9530, -9168, -8740, -8216, -7645, -7206, -7142, -7579, -8391, -9315,-10155,-10829,-11285,-11453,-11312,-10980,-10698,-10669,-10931,-11382,-11886,-12337,-12668,-12834,-12840,-12749,-12610,-12428,-12195,-11910,-11584,-11240, },
+/* LAT: -30 */ {  -9600, -9230, -8857, -8470, -8077, -7699, -7338, -6942, -6426, -5811, -5343, -5392, -6125, -7310, -8564, -9673,-10602,-11333,-11764,-11789,-11440,-10934,-10582,-10562,-10802,-11122,-11386,-11510,-11454,-11278,-11099,-10958,-10806,-10596,-10315, -9972, -9600, },
+/* LAT: -20 */ {  -7368, -6941, -6535, -6111, -5666, -5233, -4836, -4414, -3842, -3152, -2682, -2897, -3960, -5550, -7185, -8576, -9667,-10468,-10937,-11004,-10666,-10065, -9499, -9238, -9275, -9436, -9583, -9610, -9443, -9169, -8968, -8869, -8753, -8540, -8223, -7816, -7368, },
+/* LAT: -10 */ {  -4409, -3893, -3455, -3024, -2568, -2115, -1693, -1225,  -587,   128,   517,   139, -1139, -3029, -5013, -6656, -7791, -8456, -8748, -8710, -8326, -7660, -6995, -6635, -6587, -6679, -6801, -6832, -6648, -6349, -6184, -6174, -6115, -5889, -5506, -4986, -4409, },
+/* LAT:   0 */ {   -898,  -299,   149,   543,   960,  1378,  1776,  2237,  2839,  3433,  3661,  3208,  1959,    78, -1972, -3661, -4715, -5178, -5260, -5107, -4689, -3994, -3289, -2905, -2841, -2914, -3043, -3121, -2993, -2753, -2685, -2803, -2841, -2643, -2219, -1600,  -898, },
+/* LAT:  10 */ {   2569,  3173,  3592,  3925,  4278,  4647,  5006,  5410,  5880,  6266,  6324,  5866,  4819,  3278,  1584,   178,  -666,  -946,  -875,  -652,  -257,   365,   997,  1342,  1403,  1351,  1246,  1154,  1199,  1308,  1246,  1005,   838,   922,  1272,  1864,  2569, },
+/* LAT:  20 */ {   5421,  5934,  6303,  6593,  6905,  7250,  7599,  7960,  8308,  8522,  8451,  8009,  7195,  6112,  4983,  4055,  3500,  3356,  3490,  3724,  4044,  4499,  4958,  5216,  5269,  5243,  5190,  5134,  5127,  5115,  4954,  4640,  4360,  4279,  4449,  4864,  5421, },
+/* LAT:  30 */ {   7570,  7936,  8248,  8528,  8837,  9186,  9549,  9899, 10186, 10311, 10178,  9769,  9150,  8442,  7776,  7254,  6947,  6890,  7020,  7224,  7465,  7758,  8044,  8218,  8272,  8278,  8275,  8266,  8249,  8174,  7961,  7620,  7275,  7060,  7043,  7233,  7570, },
+/* LAT:  40 */ {   9265,  9485,  9739, 10024, 10351, 10715, 11087, 11433, 11692, 11783, 11641, 11287, 10816, 10340,  9939,  9649,  9491,  9477,  9580,  9735,  9906, 10085, 10256, 10380, 10456, 10512, 10562, 10595, 10583, 10480, 10245,  9902,  9540,  9257,  9114,  9125,  9265, },
+/* LAT:  50 */ {  10801, 10923, 11126, 11397, 11722, 12079, 12438, 12759, 12986, 13050, 12914, 12617, 12251, 11903, 11623, 11432, 11333, 11323, 11383, 11481, 11591, 11704, 11819, 11934, 12050, 12169, 12280, 12353, 12348, 12230, 11990, 11666, 11328, 11043, 10853, 10773, 10801, },
+/* LAT:  60 */ {  12317, 12393, 12547, 12769, 13042, 13346, 13651, 13921, 14099, 14128, 13991, 13740, 13448, 13174, 12950, 12790, 12696, 12660, 12672, 12717, 12782, 12864, 12968, 13098, 13254, 13428, 13592, 13704, 13716, 13602, 13380, 13102, 12823, 12585, 12415, 12324, 12317, },
+/* LAT:  70 */ {  13759, 13806, 13905, 14051, 14234, 14442, 14653, 14836, 14940, 14916, 14773, 14567, 14346, 14141, 13965, 13829, 13733, 13676, 13655, 13666, 13706, 13775, 13877, 14011, 14176, 14361, 14546, 14689, 14740, 14672, 14513, 14315, 14120, 13955, 13835, 13769, 13759, },
+/* LAT:  80 */ {  15005, 15021, 15062, 15125, 15205, 15294, 15375, 15419, 15394, 15306, 15188, 15060, 14935, 14820, 14719, 14636, 14573, 14532, 14512, 14515, 14541, 14589, 14659, 14751, 14862, 14987, 15121, 15252, 15359, 15406, 15373, 15291, 15199, 15117, 15054, 15017, 15005, },
+/* LAT:  90 */ {  15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, 15388, },
 };
 
-// Magnetic strength data in micro-Tesla or centi-Gauss
+// Magnetic strength data in milli-Gauss * 10
 // Model: WMM-2020,
 // Version: 0.5.1.11,
-// Date: 2020.4755,
-static constexpr const int8_t strength_table[17][37] {
-	{   61,  60,  59,  58,  57,  56,  55,  54,  53,  51,  50,  49,  48,  47,  47,  46,  46,  46,  46,  47,  47,  48,  50,  51,  52,  54,  55,  57,  58,  59,  60,  61,  61,  61,  61,  61,  61, },
-	{   63,  62,  60,  59,  57,  55,  53,  51,  49,  46,  44,  43,  41,  40,  39,  38,  37,  37,  38,  38,  40,  41,  44,  46,  49,  52,  55,  58,  61,  63,  64,  65,  66,  66,  65,  64,  63, },
-	{   62,  60,  58,  56,  54,  52,  49,  46,  43,  40,  38,  35,  34,  32,  31,  30,  30,  30,  30,  31,  33,  35,  38,  42,  46,  51,  55,  59,  62,  64,  66,  67,  67,  66,  65,  64,  62, },
-	{   59,  56,  54,  52,  49,  47,  44,  41,  38,  35,  32,  29,  27,  27,  26,  26,  25,  25,  25,  26,  28,  30,  34,  39,  44,  49,  54,  58,  61,  64,  65,  66,  65,  64,  63,  61,  59, },
-	{   54,  52,  49,  47,  44,  42,  40,  37,  34,  30,  27,  25,  24,  24,  24,  24,  24,  24,  24,  24,  25,  28,  32,  37,  43,  48,  53,  56,  59,  61,  62,  62,  62,  60,  59,  56,  54, },
-	{   49,  46,  44,  42,  40,  37,  35,  33,  30,  28,  25,  23,  22,  23,  23,  24,  25,  25,  25,  26,  26,  28,  32,  36,  42,  47,  51,  54,  56,  57,  57,  57,  56,  55,  53,  51,  49, },
-	{   43,  41,  39,  37,  35,  33,  32,  30,  28,  26,  24,  23,  22,  23,  24,  25,  26,  27,  28,  29,  29,  30,  32,  36,  40,  45,  48,  51,  52,  52,  52,  51,  50,  49,  47,  45,  43, },
-	{   38,  36,  35,  33,  32,  31,  30,  29,  28,  27,  26,  25,  24,  24,  25,  26,  28,  30,  31,  31,  32,  32,  33,  35,  39,  42,  45,  46,  47,  46,  45,  45,  44,  43,  41,  40,  38, },
-	{   34,  33,  32,  32,  31,  31,  31,  30,  30,  30,  29,  28,  27,  27,  27,  28,  29,  31,  32,  33,  33,  33,  34,  35,  38,  40,  41,  43,  43,  42,  41,  40,  39,  38,  36,  35,  34, },
-	{   33,  33,  32,  32,  33,  33,  34,  34,  35,  35,  34,  33,  31,  30,  30,  30,  31,  32,  33,  34,  35,  35,  36,  37,  39,  40,  41,  42,  42,  41,  40,  39,  37,  36,  34,  33,  33, },
-	{   34,  34,  34,  35,  36,  37,  38,  40,  40,  41,  40,  38,  37,  35,  34,  34,  35,  35,  36,  37,  38,  39,  40,  41,  42,  43,  44,  45,  45,  45,  43,  41,  39,  37,  35,  34,  34, },
-	{   37,  37,  38,  39,  40,  42,  44,  46,  47,  47,  46,  45,  43,  41,  40,  39,  39,  40,  41,  42,  43,  44,  45,  46,  47,  48,  50,  50,  51,  50,  49,  46,  44,  41,  39,  38,  37, },
-	{   42,  42,  43,  44,  46,  48,  50,  51,  52,  53,  52,  50,  48,  47,  45,  45,  44,  44,  45,  46,  47,  48,  49,  50,  52,  53,  55,  56,  56,  56,  54,  52,  49,  46,  44,  43,  42, },
-	{   48,  48,  49,  50,  52,  53,  55,  56,  57,  57,  56,  55,  53,  51,  50,  49,  48,  48,  48,  49,  50,  51,  52,  53,  55,  57,  58,  60,  60,  60,  58,  56,  54,  52,  50,  49,  48, },
-	{   54,  54,  54,  55,  56,  57,  58,  58,  59,  58,  58,  57,  56,  54,  53,  52,  51,  51,  51,  51,  52,  53,  54,  55,  57,  59,  60,  61,  62,  62,  61,  59,  58,  56,  55,  54,  54, },
-	{   57,  57,  57,  57,  58,  58,  58,  58,  58,  58,  57,  57,  56,  55,  55,  54,  53,  53,  53,  53,  54,  54,  55,  56,  58,  59,  60,  60,  61,  61,  61,  60,  59,  59,  58,  58,  57, },
-	{   58,  58,  58,  57,  57,  57,  57,  57,  57,  57,  56,  56,  56,  56,  55,  55,  55,  55,  55,  55,  55,  56,  56,  57,  57,  58,  58,  58,  59,  59,  59,  59,  59,  58,  58,  58,  58, },
+// Date: 2020.5465,
+static constexpr const int16_t strength_table[19][37] {
+//    LONGITUDE:  -180, -170, -160, -150, -140, -130, -120, -110, -100,  -90,  -80,  -70,  -60,  -50,  -40,  -30,  -20,  -10,    0,   10,   20,   30,   40,   50,   60,   70,   80,   90,  100,  110,  120,  130,  140,  150,  160,  170,  180,
+/* LAT: -90 */ {  5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, 5463, },
+/* LAT: -80 */ {  6069, 6007, 5929, 5838, 5736, 5625, 5508, 5386, 5264, 5144, 5029, 4924, 4829, 4749, 4686, 4640, 4615, 4612, 4633, 4678, 4747, 4840, 4954, 5084, 5227, 5377, 5526, 5669, 5800, 5914, 6007, 6077, 6122, 6142, 6139, 6114, 6069, },
+/* LAT: -70 */ {  6314, 6183, 6035, 5872, 5694, 5503, 5299, 5084, 4864, 4649, 4445, 4262, 4103, 3971, 3866, 3789, 3741, 3727, 3754, 3828, 3954, 4132, 4358, 4624, 4918, 5224, 5528, 5812, 6062, 6267, 6419, 6516, 6559, 6553, 6505, 6423, 6314, },
+/* LAT: -60 */ {  6198, 6009, 5810, 5603, 5386, 5152, 4896, 4618, 4325, 4035, 3766, 3537, 3356, 3220, 3120, 3047, 2996, 2976, 3000, 3088, 3253, 3500, 3823, 4206, 4627, 5060, 5481, 5866, 6192, 6442, 6608, 6688, 6692, 6631, 6520, 6371, 6198, },
+/* LAT: -50 */ {  5853, 5626, 5396, 5167, 4936, 4693, 4423, 4120, 3791, 3459, 3155, 2913, 2748, 2655, 2607, 2574, 2542, 2517, 2521, 2590, 2758, 3042, 3432, 3898, 4404, 4910, 5386, 5806, 6147, 6391, 6531, 6574, 6534, 6426, 6266, 6070, 5853, },
+/* LAT: -40 */ {  5400, 5156, 4913, 4676, 4443, 4207, 3953, 3670, 3356, 3029, 2729, 2504, 2383, 2355, 2375, 2398, 2406, 2397, 2386, 2413, 2535, 2800, 3208, 3717, 4262, 4788, 5258, 5650, 5944, 6134, 6224, 6228, 6161, 6032, 5853, 5637, 5400, },
+/* LAT: -30 */ {  4882, 4644, 4407, 4175, 3950, 3732, 3514, 3283, 3028, 2753, 2494, 2308, 2234, 2256, 2323, 2396, 2464, 2518, 2544, 2558, 2619, 2805, 3155, 3635, 4165, 4665, 5089, 5411, 5617, 5718, 5745, 5720, 5641, 5510, 5332, 5117, 4882, },
+/* LAT: -20 */ {  4323, 4113, 3907, 3704, 3508, 3326, 3158, 2996, 2820, 2623, 2432, 2295, 2249, 2287, 2374, 2485, 2615, 2746, 2841, 2882, 2905, 2991, 3218, 3593, 4039, 4468, 4822, 5064, 5173, 5182, 5152, 5105, 5023, 4896, 4730, 4534, 4323, },
+/* LAT: -10 */ {  3791, 3633, 3482, 3337, 3202, 3082, 2980, 2889, 2795, 2682, 2561, 2459, 2408, 2426, 2507, 2634, 2790, 2952, 3082, 3150, 3165, 3187, 3301, 3544, 3866, 4187, 4456, 4625, 4665, 4614, 4546, 4481, 4392, 4267, 4119, 3957, 3791, },
+/* LAT:   0 */ {  3413, 3322, 3240, 3168, 3113, 3076, 3051, 3035, 3014, 2968, 2890, 2795, 2710, 2672, 2707, 2806, 2938, 3075, 3194, 3272, 3306, 3326, 3395, 3546, 3751, 3963, 4145, 4255, 4264, 4199, 4111, 4018, 3905, 3774, 3641, 3518, 3413, },
+/* LAT:  10 */ {  3283, 3254, 3235, 3233, 3259, 3307, 3365, 3422, 3460, 3453, 3385, 3269, 3140, 3039, 3006, 3042, 3121, 3219, 3320, 3406, 3471, 3532, 3617, 3731, 3864, 4000, 4119, 4192, 4197, 4138, 4030, 3887, 3726, 3567, 3433, 3338, 3283, },
+/* LAT:  20 */ {  3400, 3405, 3434, 3490, 3584, 3707, 3838, 3959, 4043, 4056, 3984, 3841, 3671, 3526, 3444, 3427, 3459, 3529, 3624, 3720, 3810, 3907, 4016, 4126, 4233, 4341, 4442, 4509, 4523, 4467, 4333, 4132, 3907, 3698, 3536, 3437, 3400, },
+/* LAT:  30 */ {  3724, 3734, 3792, 3894, 4040, 4214, 4392, 4550, 4660, 4688, 4615, 4458, 4265, 4095, 3984, 3934, 3933, 3981, 4065, 4161, 4257, 4361, 4476, 4593, 4712, 4836, 4954, 5041, 5070, 5017, 4863, 4626, 4353, 4100, 3901, 3775, 3724, },
+/* LAT:  40 */ {  4223, 4226, 4296, 4423, 4593, 4783, 4968, 5125, 5231, 5256, 5187, 5036, 4846, 4667, 4534, 4454, 4424, 4443, 4500, 4577, 4661, 4757, 4871, 5004, 5154, 5314, 5464, 5575, 5618, 5568, 5415, 5179, 4905, 4645, 4435, 4292, 4223, },
+/* LAT:  50 */ {  4831, 4830, 4892, 5006, 5156, 5317, 5467, 5587, 5660, 5668, 5602, 5473, 5307, 5140, 4999, 4898, 4840, 4825, 4847, 4895, 4963, 5052, 5170, 5319, 5494, 5677, 5844, 5965, 6013, 5972, 5844, 5648, 5421, 5204, 5024, 4897, 4831, },
+/* LAT:  60 */ {  5391, 5385, 5419, 5487, 5575, 5670, 5756, 5821, 5852, 5840, 5784, 5687, 5564, 5433, 5312, 5213, 5145, 5109, 5105, 5131, 5186, 5271, 5387, 5534, 5700, 5869, 6018, 6125, 6172, 6152, 6070, 5943, 5795, 5650, 5528, 5440, 5391, },
+/* LAT:  70 */ {  5726, 5710, 5711, 5727, 5751, 5777, 5800, 5813, 5811, 5789, 5747, 5688, 5615, 5537, 5462, 5396, 5347, 5318, 5312, 5331, 5375, 5443, 5534, 5643, 5760, 5875, 5976, 6050, 6091, 6095, 6066, 6013, 5945, 5874, 5810, 5760, 5726, },
+/* LAT:  80 */ {  5788, 5773, 5759, 5749, 5739, 5730, 5720, 5708, 5692, 5672, 5649, 5623, 5594, 5566, 5540, 5519, 5504, 5498, 5502, 5517, 5542, 5577, 5620, 5668, 5718, 5766, 5809, 5844, 5869, 5882, 5885, 5878, 5865, 5847, 5827, 5807, 5788, },
+/* LAT:  90 */ {  5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, 5677, },
 };

test/CMakeLists.txt

@@ -54,6 +54,7 @@ set(SRCS
 	test_EKF_terrain_estimator.cpp
 	test_SensorRangeFinder.cpp
 	test_geo.cpp
+	test_geo_lookup.cpp
    )
 add_executable(ECL_GTESTS ${SRCS})
 

test/change_indication/iris_gps.csv

@@ -103,249 +103,249 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 10085000,0.983347,-0.00713167,-0.0122924,0.181184,0.00717711,0.00377816,-0.00754097,0.00292305,0.00617939,-0.0133466,-1.27313e-05,-5.83395e-05,2.99579e-06,0,0,-0.00135111,0.204181,0,0.433701,0,0,0,0,0,7.8913e-06,4.84582e-05,4.84554e-05,0.000232608,0.0676717,0.0676709,0.0234799,0.0837081,0.083708,0.0961849,4.79807e-09,4.8013e-09,9.52458e-09,0,0,9.8765e-08,0,0,0,0,0,0,0,0
 10185000,0.98331,-0.00710591,-0.0122117,0.18139,0.0050176,0.00412533,-0.00585023,0.00351238,0.0065896,-0.0133605,-1.2748e-05,-5.83222e-05,2.1641e-06,0,0,-0.0013516,0.204181,0,0.433701,0,0,0,0,0,7.86112e-06,5.2022e-05,5.20202e-05,0.000231593,0.0733978,0.0733969,0.0228551,0.0975028,0.0975027,0.0950087,4.79811e-09,4.80133e-09,9.37714e-09,0,0,9.45753e-08,0,0,0,0,0,0,0,0
 10285000,0.983341,-0.00717174,-0.0121188,0.181227,0.00448319,0.00274066,-0.00689189,0.00284079,0.00488064,-0.0132468,-1.27298e-05,-5.83415e-05,2.61407e-06,0,0,-0.00135207,0.204181,0,0.433701,0,0,0,0,0,7.83148e-06,5.10696e-05,5.10682e-05,0.000230727,0.0615549,0.0615542,0.0222584,0.0797331,0.0797329,0.0938714,4.79695e-09,4.80016e-09,9.22674e-09,0,0,9.0629e-08,0,0,0,0,0,0,0,0
-10385000,0.983008,-0.00716197,-0.0120329,0.183029,0.00720408,0.00202666,-0.00298372,0.000774823,3.06392e-05,-0.0114183,-1.27287e-05,-5.83394e-05,2.62434e-06,0,0,-0.00135338,0.204714,0.000820265,0.434395,0,0,0,0,0,6.22116e-05,5.22087e-05,5.20556e-05,0.0017803,0.034724,0.0347241,0.0374564,0.12528,0.12528,0.0867783,4.79704e-09,4.80025e-09,9.22677e-09,0,0,8.70915e-08,0,0,0,0,0,0,0,0
-10485000,0.982869,-0.0070697,-0.0119874,0.183781,0.00748824,0.00136913,-0.00193106,0.00150135,0.000197389,-0.0067598,-1.27269e-05,-5.83332e-05,2.60444e-06,0,0,-0.0013566,0.204714,0.000820265,0.434395,0,0,0,0,0,4.68429e-05,5.25094e-05,5.23978e-05,0.00134142,0.0353689,0.0353688,0.0375607,0.126252,0.126252,0.0808878,4.79714e-09,4.80034e-09,9.22634e-09,0,0,8.41135e-08,0,0,0,0,0,0,0,0
-10585000,0.983005,-0.00702826,-0.0119275,0.183054,0.00611976,0.000625119,-0.000629664,0.00117479,-0.00344877,-0.00580318,-1.27279e-05,-5.83433e-05,2.66111e-06,0,0,-0.00135713,0.204714,0.000820265,0.434395,0,0,0,0,0,3.76105e-05,5.29421e-05,5.28559e-05,0.00107648,0.0318294,0.0318292,0.0352722,0.084859,0.084859,0.0763573,4.79716e-09,4.80035e-09,9.22519e-09,0,0,8.15701e-08,0,0,0,0,0,0,0,0
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