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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/test/test_EKF_airspeed.cpp
+1 -1
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@@ -199,7 +199,7 @@ TEST_F(EkfAirspeedTest, testAirspeedDeadReckoning)
EXPECT_TRUE(_ekf_wrapper.isWindVelocityEstimated());
const Vector3f vel = _ekf->getVelocity();
EXPECT_NEAR(vel.norm(), airspeed_body.norm(), 1e-3f);
EXPECT_NEAR(vel.norm(), airspeed_body.norm(), 1e-2f);
const Vector2f vel_wind_earth = _ekf->getWindVelocity();
EXPECT_NEAR(vel_wind_earth(0), 0.f, .1f);
EXPECT_NEAR(vel_wind_earth(1), 0.f, .1f);
src/modules/ekf2/test/test_EKF_basics.cpp
-1
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@@ -108,7 +108,6 @@ TEST_F(EkfBasicsTest, initialControlMode)
EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_hdg);
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_3D);
EXPECT_EQ(1, (int) _ekf->control_status_flags().mag);
EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_dec);
EXPECT_EQ(0, (int) _ekf->control_status_flags().in_air);
EXPECT_EQ(0, (int) _ekf->control_status_flags().wind);
EXPECT_EQ(1, (int) _ekf->control_status_flags().baro_hgt);