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mbe: initialize estimator with current measurement

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bresch
2021-10-02 21:25:21 -04:00
committed by Daniel Agar
parent 9067d9cae9
commit d858835fd0
1 changed files with 2 additions and 2 deletions
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src/lib/magnetometer_bias_estimator/FieldSensorBiasEstimator/FieldSensorBiasEstimatorTest.cpp
+2 -2
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@@ -44,8 +44,8 @@ TEST(MagnetometerBiasEstimatorTest, AllZeroCase)
const Vector3f virtual_bias(0.2f, -0.4f, 0.5f); const Vector3f virtual_bias(0.2f, -0.4f, 0.5f);
Vector3f virtual_mag = virtual_unbiased_mag + virtual_bias; Vector3f virtual_mag = virtual_unbiased_mag + virtual_bias;
// field_sensor_bias_estimator.setField(virtual_mag); // Initialize with the current measurement
// field_sensor_bias_estimator.setBias(virtual_bias); field_sensor_bias_estimator.setField(virtual_mag);
for (int i = 0; i <= 1000; i++) { for (int i = 0; i <= 1000; i++) {
float dt = .01f; float dt = .01f;