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ekf2-test: add test for inclination of mag earth field

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This commit is contained in:
bresch
2023-07-24 10:16:37 -04:00
committed by Daniel Agar
parent 72be724b86
commit a95c11d48a
3 changed files with 17 additions and 1 deletions
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src/modules/ekf2/test/test_EKF_mag.cpp
+5
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@@ -97,6 +97,11 @@ TEST_F(EkfMagTest, fusionStartWithReset)
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);
float mag_incl = asinf(mag_earth(2) / fmaxf(mag_earth.norm(), 1e-4f));
float mag_incl_wmm_deg = 0.f;
_ekf->get_mag_inc_deg(mag_incl_wmm_deg);
EXPECT_NEAR(degrees(mag_incl), mag_incl_wmm_deg, 1e-6f);
}
TEST_F(EkfMagTest, noInitLargeStrength)