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ekf2: make mag control responsible for WMM

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- this further untangles mag control (which requires the WMM) from GPS
This commit is contained in:
Daniel Agar
2024-08-27 16:16:55 +02:00
committed by Mathieu Bresciani
parent be4d0d351c
commit bbcf741e9e
8 changed files with 157 additions and 123 deletions
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src/modules/ekf2/EKF/ekf.h
+5 -3
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@@ -259,7 +259,6 @@ public:
// return true if the origin is valid
bool getEkfGlobalOrigin(uint64_t &origin_time, double &latitude, double &longitude, float &origin_alt) const;
bool setEkfGlobalOrigin(double latitude, double longitude, float altitude, float eph = 0.f, float epv = 0.f);
void updateWmm(double lat, double lon);
// get the 1-sigma horizontal and vertical position uncertainty of the ekf WGS-84 position
void get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const;
@@ -466,6 +465,9 @@ public:
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_MAGNETOMETER)
// set the magnetic field data returned by the geo library using position
bool updateWorldMagneticModel(const double latitude_deg, const double longitude_deg);
const auto &aid_src_mag() const { return _aid_src_mag; }
#endif // CONFIG_EKF2_MAGNETOMETER
@@ -770,8 +772,8 @@ private:
bool update_all_states = false, bool update_tilt = false);
// fuse magnetometer declination measurement
// argument passed in is the declination uncertainty in radians
bool fuseDeclination(float decl_sigma);
// declination uncertainty in radians
bool fuseDeclination(float decl_measurement_rad, float decl_sigma);
#endif // CONFIG_EKF2_MAGNETOMETER