[fix] correct pseudo_mag projection #2803
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EwoudSmeur
approved these changes
Nov 30, 2021
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It looks good to me, ok with merging.
However, it looks like the final comparison with the expected field is in 2D, so it may be possible to simplify this a bit. However, this is more complete.
I agree with your idea of the remote mag message. I think it would be a neater way of doing it. Having this same computation in every INS seems redundant.
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Actually, the "virtual" mag vector is in 3D (even if the virtual field is along the x/north axis only). The comparison (computation of |
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The projection of the magnetometer was not correct. The invariant INS require to have the mag correctly projected in 3D and not only in the horizontal plane.
The PR #2779 is also doing the wrong projection when sending Abi MAG message. It would be better to merge the different ways to produce virtual MAG data from GPS course, or maybe create a dedicated message REMOTE_MAG to send the correct measurement from the ground independently from the REMOTE_GPS message.