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mbe: initialize estimator with current measurement

This commit is contained in:
bresch 2020-12-17 15:49:51 +01:00 committed by Daniel Agar
parent 9067d9cae9
commit d858835fd0
1 changed files with 2 additions and 2 deletions
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4
src/lib/magnetometer_bias_estimator/FieldSensorBiasEstimator/FieldSensorBiasEstimatorTest.cpp
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@ -44,8 +44,8 @@ TEST(MagnetometerBiasEstimatorTest, AllZeroCase)
const Vector3f virtual_bias(0.2f, -0.4f, 0.5f);
Vector3f virtual_mag = virtual_unbiased_mag + virtual_bias;
// field_sensor_bias_estimator.setField(virtual_mag);
// field_sensor_bias_estimator.setBias(virtual_bias);
// Initialize with the current measurement
field_sensor_bias_estimator.setField(virtual_mag);
for (int i = 0; i <= 1000; i++) {
float dt = .01f;