forked from Archive/PX4-Autopilot
mbe: initialize estimator with current measurement
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@ -44,8 +44,8 @@ TEST(MagnetometerBiasEstimatorTest, AllZeroCase)
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const Vector3f virtual_bias(0.2f, -0.4f, 0.5f);
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const Vector3f virtual_bias(0.2f, -0.4f, 0.5f);
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Vector3f virtual_mag = virtual_unbiased_mag + virtual_bias;
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Vector3f virtual_mag = virtual_unbiased_mag + virtual_bias;
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// field_sensor_bias_estimator.setField(virtual_mag);
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// Initialize with the current measurement
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// field_sensor_bias_estimator.setBias(virtual_bias);
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field_sensor_bias_estimator.setField(virtual_mag);
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for (int i = 0; i <= 1000; i++) {
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for (int i = 0; i <= 1000; i++) {
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float dt = .01f;
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float dt = .01f;
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