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simplify world_magnetic_model interface (degrees in, degrees out)

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- this hopefully helps avoid accidental mis-use
 - try to clarify units everywhere
This commit is contained in:
Daniel Agar
2024-05-31 15:49:26 -04:00
parent 5fa3b9d86a
commit 157f7cf40b
8 changed files with 52 additions and 72 deletions
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11
src/examples/fake_magnetometer/FakeMagnetometer.cpp
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@@ -66,15 +66,12 @@ void FakeMagnetometer::Run()
if (_vehicle_gps_position_sub.copy(&gps)) {
if (gps.eph < 1000) {
const double lat = gps.latitude_deg;
const double lon = gps.longitude_deg;
// magnetic field data returned by the geo library using the current GPS position
const float mag_declination_gps = get_mag_declination_radians(lat, lon);
const float mag_inclination_gps = get_mag_inclination_radians(lat, lon);
const float mag_strength_gps = get_mag_strength_gauss(lat, lon);
const float declination_rad = math::radians(get_mag_declination_degrees(gps.latitude_deg, gps.longitude_deg));
const float inclination_rad = math::radians(get_mag_inclination_degrees(gps.latitude_deg, gps.longitude_deg));
const float field_strength_gauss = get_mag_strength_gauss(gps.latitude_deg, gps.longitude_deg);
_mag_earth_pred = Dcmf(Eulerf(0, -mag_inclination_gps, mag_declination_gps)) * Vector3f(mag_strength_gps, 0, 0);
_mag_earth_pred = Dcmf(Eulerf(0, -inclination_rad, declination_rad)) * Vector3f(field_strength_gauss, 0, 0);
_mag_earth_available = true;
}