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Update world_magnetic_model to latest Thu Jul 27 11:14:06 UTC 2023

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Co-authored-by: PX4 BuildBot <bot@px4.io>
This commit is contained in:
Daniel Agar
2023-07-27 10:34:11 -04:00
committed by GitHub
parent d928a3a8d0
commit e468798e91
3 changed files with 5063 additions and 5063 deletions
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src/lib/world_magnetic_model/geo_magnetic_tables.hpp
+57 -57
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@@ -47,80 +47,80 @@ static constexpr int LON_DIM = 37;
// Magnetic declination data in radians * 10^-4
// Model: WMM-2020,
// Version: 0.5.1.11,
// Date: 2023.5425,
// Date: 2023.5671,
static constexpr const int16_t declination_table[19][37] {
// LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180,
/* LAT: -90 */ { 25962, 24217, 22471, 20726, 18980, 17235, 15490, 13745, 11999, 10254, 8509, 6763, 5018, 3273, 1527, -218, -1963, -3708, -5454, -7199, -8944,-10690,-12435,-14180,-15925,-17671,-19416,-21162,-22907,-24652,-26398,-28143,-29888, 31198, 29453, 27707, 25962, },
/* LAT: -80 */ { 22526, 20397, 18460, 16687, 15048, 13511, 12048, 10637, 9262, 7912, 6581, 5263, 3954, 2649, 1341, 21, -1321, -2694, -4106, -5560, -7056, -8594,-10174,-11794,-13460,-15180,-16967,-18841,-20825,-22945,-25221,-27656,-30224, 29971, 27355, 24853, 22526, },
/* LAT: -70 */ { 14984, 13584, 12455, 11491, 10620, 9786, 8943, 8054, 7100, 6081, 5011, 3918, 2834, 1781, 760, -250, -1288, -2396, -3601, -4905, -6290, -7723, -9174,-10618,-12045,-13463,-14893,-16381,-18010,-19932,-22466,-26284, 30629, 24108, 19619, 16854, 14984, },
/* LAT: -60 */ { 8445, 8194, 7909, 7630, 7372, 7115, 6804, 6368, 5751, 4929, 3927, 2815, 1697, 674, -202, -955, -1683, -2510, -3521, -4727, -6065, -7440, -8764, -9975,-11039,-11936,-12650,-13144,-13316,-12868,-10758, -3426, 5002, 7713, 8468, 8585, 8445, },
/* LAT: -50 */ { 5504, 5538, 5479, 5386, 5309, 5269, 5231, 5102, 4755, 4088, 3074, 1800, 461, -711, -1571, -2124, -2515, -2958, -3655, -4685, -5943, -7228, -8371, -9270, -9862,-10093, -9890, -9124, -7608, -5241, -2332, 417, 2528, 3953, 4827, 5301, 5504, },
/* LAT: -40 */ { 3968, 4060, 4065, 4017, 3954, 3917, 3920, 3907, 3731, 3192, 2162, 716, -846, -2151, -2999, -3437, -3608, -3663, -3841, -4436, -5438, -6525, -7408, -7938, -8032, -7641, -6739, -5350, -3641, -1945, -490, 729, 1775, 2644, 3304, 3736, 3968, },
/* LAT: -30 */ { 2995, 3081, 3108, 3089, 3027, 2946, 2884, 2849, 2721, 2237, 1193, -334, -1940, -3182, -3907, -4238, -4305, -4079, -3642, -3447, -3845, -4608, -5301, -5638, -5497, -4897, -3929, -2725, -1527, -592, 80, 679, 1306, 1914, 2428, 2794, 2995, },
/* LAT: -20 */ { 2352, 2397, 2411, 2408, 2362, 2265, 2154, 2076, 1930, 1430, 363, -1134, -2610, -3658, -4173, -4274, -4057, -3484, -2617, -1837, -1590, -1965, -2617, -3075, -3099, -2730, -2090, -1277, -511, -31, 225, 525, 969, 1455, 1883, 2196, 2352, },
/* LAT: -10 */ { 1959, 1952, 1926, 1918, 1886, 1798, 1684, 1590, 1405, 850, -221, -1603, -2871, -3685, -3933, -3688, -3103, -2316, -1471, -725, -275, -324, -803, -1306, -1510, -1414, -1097, -601, -112, 121, 162, 319, 694, 1141, 1542, 1836, 1959, },
/* LAT: 0 */ { 1745, 1711, 1651, 1637, 1622, 1549, 1439, 1321, 1066, 443, -603, -1831, -2877, -3447, -3428, -2914, -2142, -1362, -714, -182, 226, 327, 38, -379, -629, -682, -583, -324, -40, 42, -27, 58, 405, 857, 1285, 1612, 1745, },
/* LAT: 10 */ { 1607, 1614, 1568, 1580, 1603, 1549, 1422, 1230, 854, 136, -886, -1960, -2777, -3102, -2883, -2268, -1490, -782, -272, 106, 429, 571, 402, 79, -152, -260, -286, -210, -110, -158, -304, -280, 26, 490, 979, 1392, 1607, },
/* LAT: 20 */ { 1417, 1565, 1623, 1713, 1797, 1773, 1613, 1307, 762, -93, -1134, -2079, -2666, -2763, -2426, -1819, -1108, -461, -6, 301, 558, 700, 604, 360, 162, 43, -54, -125, -210, -404, -646, -706, -467, -13, 534, 1057, 1417, },
/* LAT: 30 */ { 1107, 1473, 1732, 1956, 2114, 2123, 1932, 1507, 780, -246, -1358, -2226, -2630, -2560, -2156, -1575, -919, -304, 155, 458, 687, 830, 806, 656, 508, 381, 218, -2, -291, -669, -1040, -1199, -1035, -604, -25, 586, 1107, },
/* LAT: 40 */ { 739, 1325, 1820, 2213, 2463, 2507, 2291, 1757, 848, -374, -1602, -2458, -2770, -2614, -2166, -1572, -919, -290, 217, 578, 846, 1041, 1131, 1118, 1042, 891, 615, 193, -353, -963, -1484, -1724, -1604, -1185, -587, 83, 739, },
/* LAT: 50 */ { 438, 1183, 1865, 2425, 2795, 2905, 2678, 2027, 892, -593, -2002, -2906, -3195, -3001, -2511, -1865, -1155, -459, 155, 658, 1074, 1425, 1702, 1869, 1885, 1692, 1237, 515, -388, -1292, -1966, -2246, -2118, -1677, -1047, -321, 438, },
/* LAT: 60 */ { 225, 1073, 1880, 2580, 3091, 3311, 3105, 2306, 811, -1124, -2823, -3797, -4049, -3792, -3222, -2479, -1654, -816, -10, 739, 1429, 2057, 2596, 2987, 3140, 2943, 2289, 1155, -271, -1588, -2448, -2749, -2582, -2092, -1408, -617, 225, },
/* LAT: 70 */ { -42, 888, 1784, 2586, 3207, 3512, 3279, 2184, 14, -2637, -4575, -5413, -5438, -4967, -4207, -3279, -2260, -1198, -127, 931, 1954, 2917, 3782, 4485, 4926, 4946, 4316, 2813, 595, -1515, -2804, -3241, -3083, -2558, -1819, -960, -42, },
/* LAT: 80 */ { -853, 66, 916, 1607, 1999, 1846, 747, -1650, -4667, -6770, -7579, -7506, -6919, -6031, -4961, -3777, -2521, -1223, 96, 1420, 2731, 4012, 5239, 6379, 7377, 8139, 8481, 8020, 6019, 2082, -1602, -3304, -3645, -3303, -2622, -1772, -853, },
/* LAT: 90 */ { -29458,-27713,-25967,-24222,-22477,-20731,-18986,-17241,-15495,-13750,-12005,-10260, -8515, -6770, -5024, -3279, -1534, 211, 1956, 3701, 5447, 7192, 8937, 10682, 12428, 14173, 15919, 17664, 19409, 21155, 22900, 24646, 26391, 28137, 29882,-31204,-29458, },
/* LAT: -90 */ { 25961, 24216, 22471, 20725, 18980, 17235, 15489, 13744, 11999, 10253, 8508, 6763, 5017, 3272, 1527, -218, -1964, -3709, -5454, -7200, -8945,-10690,-12435,-14181,-15926,-17671,-19417,-21162,-22908,-24653,-26398,-28144,-29889, 31197, 29452, 27707, 25961, },
/* LAT: -80 */ { 22525, 20397, 18459, 16687, 15048, 13510, 12047, 10636, 9262, 7912, 6581, 5262, 3954, 2649, 1341, 21, -1321, -2695, -4106, -5560, -7057, -8595,-10174,-11795,-13461,-15181,-16968,-18842,-20826,-22946,-25222,-27657,-30225, 29970, 27354, 24852, 22525, },
/* LAT: -70 */ { 14984, 13584, 12455, 11491, 10620, 9786, 8942, 8054, 7100, 6080, 5010, 3918, 2834, 1780, 760, -250, -1288, -2396, -3601, -4906, -6291, -7724, -9175,-10618,-12046,-13464,-14894,-16382,-18011,-19933,-22468,-26286, 30627, 24107, 19619, 16854, 14984, },
/* LAT: -60 */ { 8445, 8195, 7909, 7630, 7372, 7115, 6804, 6368, 5751, 4929, 3926, 2815, 1697, 674, -202, -955, -1683, -2510, -3521, -4727, -6066, -7441, -8765, -9976,-11040,-11937,-12651,-13145,-13316,-12868,-10758, -3424, 5004, 7715, 8469, 8586, 8445, },
/* LAT: -50 */ { 5504, 5539, 5479, 5386, 5309, 5269, 5231, 5102, 4755, 4088, 3074, 1799, 461, -712, -1571, -2124, -2514, -2957, -3655, -4685, -5944, -7229, -8372, -9271, -9863,-10094, -9890, -9124, -7608, -5240, -2331, 418, 2528, 3954, 4828, 5302, 5504, },
/* LAT: -40 */ { 3969, 4061, 4066, 4017, 3954, 3917, 3920, 3907, 3731, 3191, 2162, 715, -847, -2151, -2999, -3436, -3608, -3662, -3841, -4436, -5438, -6526, -7409, -7938, -8033, -7641, -6739, -5349, -3641, -1945, -490, 729, 1775, 2645, 3304, 3737, 3969, },
/* LAT: -30 */ { 2995, 3081, 3108, 3089, 3027, 2946, 2884, 2849, 2720, 2237, 1192, -335, -1941, -3183, -3907, -4238, -4304, -4078, -3641, -3446, -3846, -4609, -5302, -5638, -5497, -4896, -3929, -2724, -1526, -591, 80, 679, 1306, 1914, 2429, 2794, 2995, },
/* LAT: -20 */ { 2353, 2398, 2411, 2408, 2362, 2265, 2154, 2076, 1930, 1429, 362, -1135, -2611, -3658, -4173, -4274, -4057, -3483, -2616, -1836, -1590, -1966, -2617, -3076, -3099, -2729, -2089, -1277, -511, -31, 225, 524, 969, 1455, 1884, 2196, 2353, },
/* LAT: -10 */ { 1959, 1952, 1927, 1918, 1886, 1798, 1683, 1590, 1404, 850, -222, -1604, -2872, -3685, -3933, -3688, -3102, -2315, -1470, -724, -274, -324, -803, -1306, -1510, -1413, -1097, -601, -112, 121, 162, 319, 694, 1141, 1542, 1836, 1959, },
/* LAT: 0 */ { 1746, 1711, 1651, 1637, 1622, 1549, 1439, 1321, 1065, 442, -603, -1831, -2877, -3448, -3427, -2913, -2141, -1361, -713, -181, 226, 327, 38, -379, -629, -681, -583, -324, -40, 42, -27, 58, 404, 856, 1285, 1612, 1746, },
/* LAT: 10 */ { 1607, 1614, 1568, 1580, 1602, 1549, 1421, 1230, 853, 135, -887, -1960, -2777, -3102, -2883, -2267, -1489, -782, -271, 106, 429, 571, 402, 79, -152, -260, -286, -210, -110, -158, -304, -281, 26, 490, 979, 1393, 1607, },
/* LAT: 20 */ { 1417, 1565, 1623, 1713, 1797, 1772, 1612, 1306, 761, -94, -1134, -2079, -2666, -2763, -2425, -1818, -1107, -461, -5, 301, 558, 700, 604, 360, 163, 43, -54, -125, -210, -405, -646, -706, -468, -13, 534, 1057, 1417, },
/* LAT: 30 */ { 1107, 1473, 1732, 1955, 2114, 2122, 1932, 1507, 779, -247, -1358, -2226, -2630, -2560, -2156, -1574, -919, -303, 156, 458, 688, 831, 806, 656, 508, 382, 218, -2, -291, -670, -1040, -1199, -1036, -605, -25, 586, 1107, },
/* LAT: 40 */ { 739, 1324, 1819, 2213, 2463, 2506, 2290, 1757, 847, -374, -1602, -2458, -2770, -2613, -2165, -1572, -918, -290, 217, 579, 847, 1042, 1131, 1118, 1042, 892, 615, 193, -354, -964, -1484, -1725, -1604, -1185, -587, 83, 739, },
/* LAT: 50 */ { 437, 1182, 1864, 2425, 2795, 2904, 2678, 2027, 892, -593, -2001, -2905, -3194, -3000, -2510, -1864, -1154, -458, 156, 659, 1075, 1426, 1702, 1869, 1885, 1692, 1237, 515, -389, -1293, -1967, -2247, -2118, -1677, -1047, -322, 437, },
/* LAT: 60 */ { 224, 1072, 1879, 2579, 3090, 3310, 3104, 2305, 811, -1124, -2822, -3795, -4048, -3790, -3221, -2477, -1653, -815, -9, 740, 1430, 2057, 2596, 2987, 3140, 2943, 2289, 1154, -272, -1589, -2448, -2749, -2582, -2093, -1408, -618, 224, },
/* LAT: 70 */ { -44, 886, 1782, 2584, 3205, 3510, 3278, 2184, 15, -2635, -4572, -5410, -5435, -4965, -4205, -3277, -2258, -1197, -125, 932, 1955, 2919, 3783, 4486, 4926, 4946, 4316, 2812, 594, -1517, -2805, -3242, -3084, -2560, -1821, -962, -44, },
/* LAT: 80 */ { -857, 62, 911, 1602, 1994, 1843, 746, -1647, -4660, -6763, -7573, -7501, -6915, -6028, -4958, -3774, -2519, -1221, 98, 1422, 2733, 4014, 5241, 6381, 7379, 8141, 8483, 8021, 6019, 2077, -1608, -3309, -3650, -3308, -2626, -1777, -857, },
/* LAT: 90 */ { -29449,-27703,-25958,-24213,-22467,-20722,-18976,-17231,-15486,-13741,-11996,-10250, -8505, -6760, -5015, -3270, -1525, 221, 1966, 3711, 5456, 7201, 8947, 10692, 12437, 14183, 15928, 17673, 19419, 21164, 22910, 24655, 26401, 28146, 29892,-31194,-29449, },
};
// Magnetic inclination data in radians * 10^-4
// Model: WMM-2020,
// Version: 0.5.1.11,
// Date: 2023.5425,
// Date: 2023.5671,
static constexpr const int16_t inclination_table[19][37] {
// LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180,
/* LAT: -90 */ { -12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565,-12565, },
/* LAT: -80 */ { -13648,-13514,-13354,-13173,-12980,-12778,-12575,-12375,-12184,-12009,-11852,-11718,-11608,-11522,-11458,-11417,-11397,-11399,-11426,-11480,-11564,-11679,-11824,-11998,-12196,-12414,-12643,-12876,-13104,-13316,-13502,-13652,-13755,-13806,-13802,-13747,-13648, },
/* LAT: -70 */ { -14096,-13777,-13458,-13135,-12803,-12460,-12105,-11749,-11407,-11099,-10848,-10665,-10554,-10502,-10487,-10489,-10495,-10502,-10524,-10580,-10689,-10864,-11112,-11428,-11802,-12221,-12670,-13134,-13600,-14052,-14469,-14812,-14998,-14941,-14710,-14412,-14096, },
/* LAT: -60 */ { -13512,-13158,-12820,-12487,-12143,-11771,-11357,-10903,-10436,-10008, -9680, -9508, -9507, -9645, -9849,-10038,-10158,-10197,-10180,-10163,-10211,-10373,-10666,-11078,-11579,-12137,-12724,-13321,-13909,-14471,-14968,-15256,-15075,-14688,-14281,-13886,-13512, },
/* LAT: -50 */ { -12493,-12150,-11818,-11496,-11172,-10826,-10427, -9956, -9428, -8909, -8523, -8404, -8611, -9075, -9638,-10144,-10496,-10649,-10610,-10452,-10310,-10321,-10549,-10972,-11518,-12113,-12699,-13236,-13681,-13977,-14084,-14010,-13807,-13522,-13193,-12844,-12493, },
/* LAT: -40 */ { -11239,-10889,-10540,-10194, -9855, -9517, -9157, -8733, -8213, -7651, -7231, -7200, -7670, -8499, -9420,-10243,-10894,-11318,-11444,-11264,-10917,-10650,-10653,-10944,-11411,-11916,-12359,-12677,-12833,-12837,-12748,-12612,-12434,-12203,-11916,-11587,-11239, },
/* LAT: -30 */ { -9602, -9220, -8838, -8447, -8054, -7680, -7326, -6937, -6426, -5816, -5372, -5472, -6259, -7470, -8719, -9807,-10713,-11412,-11796,-11769,-11385,-10877,-10553,-10563,-10821,-11142,-11395,-11503,-11437,-11261,-11090,-10959,-10816,-10611,-10330, -9983, -9602, },
/* LAT: -20 */ { -7373, -6926, -6504, -6074, -5630, -5202, -4814, -4405, -3842, -3159, -2722, -3006, -4141, -5766, -7390, -8747, -9800,-10562,-10984,-11002,-10625,-10005, -9451, -9216, -9271, -9434, -9572, -9584, -9409, -9138, -8949, -8869, -8772, -8568, -8251, -7837, -7373, },
/* LAT: -10 */ { -4418, -3873, -3412, -2973, -2515, -2066, -1655, -1208, -588, 110, 458, 4, -1353, -3285, -5255, -6844, -7919, -8536, -8786, -8710, -8287, -7593, -6930, -6593, -6558, -6651, -6766, -6786, -6596, -6301, -6154, -6175, -6146, -5935, -5551, -5020, -4418, },
/* LAT: 0 */ { -911, -276, 197, 603, 1022, 1438, 1824, 2258, 2834, 3403, 3590, 3071, 1750, -177, -2216, -3844, -4827, -5237, -5282, -5102, -4648, -3921, -3216, -2852, -2794, -2861, -2984, -3055, -2925, -2692, -2646, -2805, -2882, -2703, -2278, -1643, -911, },
/* LAT: 10 */ { 2557, 3193, 3634, 3978, 4334, 4701, 5048, 5427, 5869, 6231, 6255, 5749, 4647, 3068, 1381, 24, -758, -987, -884, -641, -220, 427, 1061, 1393, 1457, 1417, 1319, 1228, 1269, 1369, 1285, 1003, 796, 862, 1215, 1822, 2557, },
/* LAT: 20 */ { 5413, 5948, 6333, 6630, 6944, 7287, 7626, 7967, 8293, 8485, 8389, 7915, 7068, 5965, 4843, 3946, 3432, 3328, 3487, 3735, 4072, 4543, 5004, 5257, 5316, 5303, 5258, 5200, 5186, 5163, 4982, 4639, 4331, 4236, 4409, 4836, 5413, },
/* LAT: 30 */ { 7568, 7944, 8264, 8547, 8856, 9203, 9557, 9894, 10165, 10273, 10122, 9694, 9060, 8348, 7690, 7186, 6903, 6870, 7019, 7234, 7485, 7787, 8077, 8250, 8309, 8326, 8331, 8321, 8296, 8209, 7982, 7623, 7262, 7039, 7024, 7220, 7568, },
/* LAT: 40 */ { 9266, 9487, 9744, 10029, 10355, 10715, 11081, 11416, 11665, 11743, 11589, 11226, 10753, 10280, 9887, 9608, 9464, 9466, 9581, 9745, 9923, 10110, 10282, 10407, 10486, 10549, 10607, 10640, 10621, 10507, 10262, 9908, 9538, 9252, 9109, 9122, 9266, },
/* LAT: 50 */ { 10802, 10923, 11123, 11392, 11714, 12067, 12419, 12733, 12953, 13009, 12869, 12571, 12207, 11864, 11591, 11407, 11317, 11317, 11387, 11492, 11608, 11726, 11843, 11959, 12078, 12202, 12317, 12389, 12378, 12250, 12001, 11671, 11331, 11046, 10856, 10776, 10802, },
/* LAT: 60 */ { 12320, 12391, 12540, 12756, 13024, 13323, 13624, 13889, 14063, 14091, 13956, 13708, 13421, 13151, 12932, 12777, 12689, 12659, 12677, 12726, 12796, 12882, 12989, 13122, 13283, 13459, 13624, 13732, 13735, 13612, 13386, 13107, 12828, 12592, 12422, 12330, 12320, },
/* LAT: 70 */ { 13757, 13798, 13891, 14031, 14208, 14410, 14617, 14797, 14902, 14885, 14751, 14552, 14336, 14133, 13960, 13827, 13733, 13680, 13661, 13675, 13718, 13791, 13896, 14033, 14201, 14388, 14573, 14712, 14756, 14681, 14519, 14321, 14126, 13962, 13841, 13772, 13757, },
/* LAT: 80 */ { 14993, 15004, 15040, 15097, 15172, 15255, 15333, 15378, 15364, 15290, 15181, 15059, 14938, 14825, 14726, 14644, 14583, 14542, 14524, 14528, 14555, 14605, 14677, 14770, 14882, 15010, 15145, 15278, 15386, 15429, 15387, 15298, 15201, 15115, 15050, 15008, 14993, },
/* LAT: 90 */ { 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15399, 15399, 15399, 15399, 15399, 15399, 15399, },
/* LAT: -80 */ { -13648,-13514,-13353,-13173,-12979,-12778,-12575,-12375,-12184,-12008,-11852,-11718,-11608,-11522,-11458,-11416,-11396,-11399,-11426,-11480,-11564,-11678,-11824,-11998,-12196,-12414,-12643,-12876,-13104,-13316,-13502,-13652,-13755,-13806,-13802,-13747,-13648, },
/* LAT: -70 */ { -14095,-13777,-13457,-13135,-12803,-12460,-12105,-11749,-11407,-11099,-10848,-10665,-10554,-10502,-10487,-10489,-10495,-10502,-10524,-10580,-10688,-10864,-11112,-11428,-11802,-12221,-12670,-13134,-13600,-14052,-14469,-14812,-14997,-14941,-14709,-14411,-14095, },
/* LAT: -60 */ { -13512,-13158,-12819,-12486,-12143,-11771,-11356,-10902,-10436,-10007, -9680, -9508, -9507, -9646, -9849,-10038,-10158,-10196,-10180,-10163,-10211,-10373,-10666,-11078,-11579,-12137,-12724,-13321,-13909,-14471,-14968,-15257,-15075,-14688,-14281,-13886,-13512, },
/* LAT: -50 */ { -12493,-12150,-11818,-11496,-11172,-10826,-10427, -9956, -9428, -8909, -8524, -8404, -8611, -9075, -9638,-10144,-10496,-10649,-10610,-10452,-10310,-10321,-10549,-10972,-11519,-12113,-12699,-13236,-13681,-13977,-14084,-14011,-13807,-13522,-13193,-12844,-12493, },
/* LAT: -40 */ { -11239,-10889,-10540,-10194, -9854, -9517, -9157, -8733, -8213, -7651, -7231, -7200, -7671, -8500, -9420,-10244,-10895,-11319,-11444,-11264,-10916,-10649,-10653,-10944,-11411,-11917,-12359,-12677,-12833,-12837,-12748,-12612,-12434,-12203,-11916,-11587,-11239, },
/* LAT: -30 */ { -9602, -9220, -8838, -8446, -8054, -7680, -7326, -6937, -6426, -5816, -5373, -5473, -6260, -7471, -8720, -9809,-10714,-11413,-11796,-11769,-11385,-10877,-10553,-10563,-10821,-11143,-11395,-11503,-11437,-11261,-11089,-10959,-10816,-10611,-10330, -9983, -9602, },
/* LAT: -20 */ { -7373, -6926, -6504, -6074, -5630, -5201, -4814, -4405, -3842, -3159, -2722, -3007, -4143, -5767, -7392, -8749, -9801,-10563,-10985,-11002,-10625,-10005, -9450, -9216, -9271, -9434, -9572, -9584, -9409, -9138, -8949, -8869, -8772, -8568, -8252, -7837, -7373, },
/* LAT: -10 */ { -4418, -3873, -3412, -2972, -2514, -2065, -1655, -1208, -588, 110, 457, 3, -1355, -3287, -5257, -6846, -7920, -8536, -8787, -8710, -8286, -7592, -6930, -6592, -6558, -6651, -6766, -6785, -6595, -6301, -6153, -6175, -6146, -5935, -5552, -5020, -4418, },
/* LAT: 0 */ { -911, -276, 197, 603, 1022, 1438, 1824, 2259, 2834, 3402, 3590, 3070, 1748, -179, -2218, -3845, -4828, -5237, -5283, -5102, -4648, -3921, -3216, -2852, -2794, -2861, -2984, -3055, -2924, -2691, -2645, -2805, -2883, -2703, -2278, -1643, -911, },
/* LAT: 10 */ { 2557, 3193, 3635, 3979, 4335, 4701, 5049, 5427, 5869, 6230, 6254, 5748, 4646, 3067, 1379, 23, -759, -988, -884, -641, -220, 428, 1061, 1394, 1457, 1417, 1319, 1228, 1270, 1370, 1285, 1003, 796, 861, 1214, 1822, 2557, },
/* LAT: 20 */ { 5413, 5949, 6333, 6630, 6944, 7287, 7626, 7967, 8292, 8485, 8388, 7914, 7067, 5964, 4842, 3945, 3432, 3327, 3487, 3736, 4072, 4544, 5004, 5258, 5316, 5304, 5258, 5200, 5186, 5164, 4983, 4639, 4331, 4236, 4409, 4836, 5413, },
/* LAT: 30 */ { 7568, 7944, 8264, 8547, 8857, 9203, 9558, 9894, 10165, 10273, 10121, 9693, 9059, 8347, 7689, 7185, 6903, 6870, 7019, 7234, 7485, 7788, 8077, 8250, 8309, 8326, 8331, 8321, 8296, 8210, 7982, 7623, 7262, 7039, 7023, 7220, 7568, },
/* LAT: 40 */ { 9266, 9487, 9744, 10029, 10355, 10715, 11081, 11416, 11665, 11742, 11588, 11226, 10752, 10280, 9887, 9608, 9464, 9466, 9581, 9745, 9923, 10110, 10283, 10408, 10487, 10550, 10607, 10641, 10622, 10508, 10262, 9908, 9538, 9252, 9109, 9122, 9266, },
/* LAT: 50 */ { 10802, 10923, 11123, 11392, 11714, 12067, 12419, 12733, 12952, 13009, 12868, 12570, 12207, 11863, 11591, 11407, 11317, 11317, 11387, 11493, 11608, 11726, 11843, 11959, 12078, 12203, 12317, 12390, 12378, 12250, 12001, 11671, 11331, 11046, 10856, 10776, 10802, },
/* LAT: 60 */ { 12320, 12391, 12540, 12756, 13024, 13323, 13624, 13888, 14063, 14090, 13955, 13708, 13420, 13151, 12932, 12777, 12689, 12659, 12677, 12726, 12796, 12882, 12989, 13123, 13283, 13460, 13625, 13732, 13735, 13612, 13386, 13107, 12829, 12592, 12422, 12330, 12320, },
/* LAT: 70 */ { 13757, 13798, 13891, 14031, 14208, 14410, 14616, 14797, 14902, 14885, 14751, 14552, 14336, 14133, 13960, 13827, 13733, 13680, 13662, 13675, 13718, 13791, 13896, 14033, 14201, 14389, 14573, 14712, 14756, 14681, 14519, 14321, 14126, 13962, 13841, 13772, 13757, },
/* LAT: 80 */ { 14993, 15004, 15040, 15097, 15172, 15255, 15332, 15378, 15364, 15290, 15181, 15059, 14938, 14825, 14726, 14644, 14583, 14542, 14524, 14528, 14555, 14605, 14677, 14770, 14883, 15010, 15146, 15278, 15386, 15429, 15387, 15298, 15201, 15115, 15050, 15008, 14993, },
/* LAT: 90 */ { 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15398, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, 15399, },
};
// Magnetic strength data in milli-Gauss * 10
// Model: WMM-2020,
// Version: 0.5.1.11,
// Date: 2023.5425,
// Date: 2023.5671,
static constexpr const int16_t strength_table[19][37] {
// LONGITUDE: -180, -170, -160, -150, -140, -130, -120, -110, -100, -90, -80, -70, -60, -50, -40, -30, -20, -10, 0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120, 130, 140, 150, 160, 170, 180,
/* LAT: -90 */ { 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, 5445, },
/* LAT: -80 */ { 6052, 5988, 5908, 5816, 5713, 5601, 5483, 5361, 5238, 5118, 5004, 4899, 4806, 4726, 4663, 4619, 4595, 4593, 4615, 4662, 4733, 4827, 4942, 5074, 5218, 5368, 5518, 5661, 5792, 5906, 5998, 6067, 6111, 6130, 6125, 6099, 6052, },
/* LAT: -70 */ { 6297, 6162, 6011, 5846, 5666, 5474, 5268, 5053, 4835, 4620, 4418, 4235, 4078, 3948, 3844, 3768, 3721, 3709, 3738, 3815, 3944, 4125, 4355, 4623, 4919, 5227, 5530, 5814, 6064, 6267, 6418, 6513, 6554, 6545, 6495, 6409, 6297, },
/* LAT: -60 */ { 6182, 5989, 5786, 5576, 5357, 5122, 4865, 4587, 4295, 4005, 3739, 3513, 3334, 3200, 3101, 3028, 2977, 2958, 2984, 3076, 3246, 3499, 3828, 4215, 4638, 5073, 5494, 5878, 6202, 6450, 6612, 6690, 6691, 6627, 6512, 6360, 6182, },
/* LAT: -50 */ { 5840, 5609, 5376, 5144, 4911, 4666, 4395, 4092, 3763, 3432, 3130, 2892, 2731, 2641, 2593, 2558, 2523, 2496, 2501, 2575, 2751, 3044, 3443, 3916, 4424, 4930, 5405, 5823, 6161, 6402, 6539, 6578, 6535, 6424, 6261, 6061, 5840, },
/* LAT: -40 */ { 5391, 5144, 4898, 4657, 4422, 4185, 3930, 3645, 3331, 3006, 2708, 2486, 2371, 2346, 2365, 2385, 2388, 2375, 2361, 2391, 2525, 2805, 3227, 3743, 4291, 4814, 5279, 5666, 5958, 6144, 6232, 6234, 6163, 6031, 5849, 5630, 5391, },
/* LAT: -30 */ { 4877, 4635, 4395, 4160, 3933, 3714, 3495, 3263, 3007, 2732, 2474, 2293, 2225, 2251, 2318, 2388, 2453, 2501, 2521, 2532, 2603, 2807, 3175, 3666, 4199, 4694, 5110, 5425, 5626, 5725, 5751, 5724, 5644, 5511, 5331, 5114, 4877, },
/* LAT: -20 */ { 4320, 4106, 3897, 3691, 3495, 3312, 3143, 2979, 2801, 2602, 2412, 2279, 2241, 2286, 2376, 2487, 2614, 2740, 2826, 2860, 2886, 2986, 3231, 3620, 4071, 4497, 4843, 5075, 5179, 5186, 5155, 5108, 5026, 4898, 4731, 4534, 4320, },
/* LAT: -10 */ { 3790, 3628, 3474, 3327, 3191, 3071, 2967, 2875, 2776, 2661, 2539, 2441, 2397, 2424, 2512, 2642, 2798, 2955, 3076, 3136, 3150, 3179, 3306, 3562, 3890, 4212, 4475, 4635, 4668, 4615, 4548, 4485, 4397, 4272, 4123, 3958, 3790, },
/* LAT: 0 */ { 3412, 3318, 3233, 3160, 3105, 3066, 3039, 3019, 2994, 2945, 2866, 2772, 2693, 2665, 2709, 2813, 2946, 3081, 3194, 3268, 3298, 3321, 3398, 3558, 3769, 3983, 4162, 4266, 4271, 4202, 4114, 4022, 3911, 3780, 3645, 3520, 3412, },
/* LAT: 10 */ { 3282, 3251, 3230, 3225, 3249, 3296, 3351, 3403, 3436, 3426, 3357, 3242, 3117, 3024, 3001, 3044, 3126, 3224, 3324, 3409, 3472, 3535, 3624, 3744, 3881, 4020, 4140, 4209, 4210, 4147, 4037, 3893, 3732, 3572, 3436, 3339, 3282, },
/* LAT: 20 */ { 3399, 3401, 3426, 3479, 3570, 3691, 3818, 3934, 4014, 4026, 3952, 3811, 3645, 3507, 3434, 3424, 3460, 3534, 3631, 3728, 3819, 3918, 4030, 4142, 4252, 4365, 4468, 4533, 4542, 4483, 4345, 4142, 3914, 3704, 3540, 3439, 3399, },
/* LAT: 30 */ { 3722, 3727, 3780, 3879, 4020, 4191, 4365, 4520, 4628, 4654, 4581, 4426, 4239, 4077, 3974, 3930, 3935, 3987, 4075, 4174, 4272, 4379, 4495, 4613, 4733, 4861, 4983, 5069, 5094, 5035, 4877, 4637, 4362, 4107, 3908, 3778, 3722, },
/* LAT: 40 */ { 4222, 4218, 4281, 4403, 4568, 4755, 4937, 5093, 5198, 5224, 5156, 5009, 4823, 4651, 4525, 4451, 4427, 4451, 4512, 4593, 4680, 4778, 4893, 5026, 5178, 5340, 5492, 5602, 5639, 5583, 5426, 5188, 4914, 4655, 4444, 4298, 4222, },
/* LAT: 50 */ { 4832, 4822, 4875, 4983, 5128, 5286, 5436, 5557, 5632, 5642, 5579, 5453, 5292, 5130, 4994, 4898, 4845, 4834, 4860, 4911, 4981, 5072, 5192, 5342, 5518, 5702, 5868, 5985, 6028, 5982, 5850, 5655, 5431, 5216, 5036, 4905, 4832, },
/* LAT: 60 */ { 5393, 5377, 5403, 5463, 5548, 5642, 5729, 5796, 5830, 5823, 5770, 5677, 5558, 5430, 5312, 5217, 5151, 5118, 5117, 5145, 5202, 5289, 5408, 5555, 5722, 5890, 6037, 6139, 6182, 6159, 6076, 5950, 5805, 5663, 5541, 5448, 5393, },
/* LAT: 70 */ { 5726, 5704, 5699, 5710, 5731, 5757, 5781, 5796, 5797, 5779, 5741, 5685, 5616, 5540, 5467, 5404, 5356, 5329, 5325, 5345, 5390, 5460, 5552, 5661, 5778, 5892, 5990, 6062, 6101, 6104, 6075, 6022, 5955, 5885, 5819, 5765, 5726, },
/* LAT: 80 */ { 5790, 5772, 5756, 5744, 5734, 5724, 5714, 5703, 5688, 5671, 5649, 5624, 5598, 5572, 5547, 5527, 5514, 5509, 5514, 5530, 5556, 5591, 5634, 5682, 5731, 5779, 5822, 5856, 5880, 5893, 5895, 5888, 5873, 5854, 5832, 5810, 5790, },
/* LAT: -80 */ { 6052, 5988, 5908, 5816, 5713, 5601, 5482, 5360, 5238, 5118, 5004, 4899, 4806, 4726, 4663, 4619, 4595, 4593, 4615, 4661, 4732, 4827, 4942, 5074, 5218, 5368, 5518, 5661, 5792, 5906, 5998, 6067, 6111, 6130, 6125, 6098, 6052, },
/* LAT: -70 */ { 6297, 6162, 6011, 5845, 5666, 5473, 5268, 5053, 4834, 4619, 4417, 4235, 4078, 3947, 3844, 3767, 3721, 3709, 3738, 3815, 3944, 4125, 4355, 4623, 4919, 5227, 5530, 5814, 6064, 6267, 6418, 6513, 6554, 6545, 6495, 6409, 6297, },
/* LAT: -60 */ { 6182, 5989, 5786, 5576, 5357, 5122, 4865, 4586, 4294, 4005, 3739, 3512, 3334, 3200, 3101, 3028, 2977, 2957, 2984, 3076, 3246, 3499, 3828, 4215, 4638, 5073, 5494, 5878, 6202, 6450, 6612, 6690, 6691, 6627, 6512, 6360, 6182, },
/* LAT: -50 */ { 5840, 5609, 5376, 5144, 4911, 4666, 4395, 4091, 3763, 3431, 3130, 2891, 2731, 2641, 2592, 2557, 2523, 2496, 2501, 2575, 2751, 3044, 3443, 3917, 4424, 4930, 5405, 5823, 6161, 6402, 6539, 6578, 6535, 6423, 6261, 6061, 5840, },
/* LAT: -40 */ { 5391, 5144, 4898, 4657, 4422, 4184, 3929, 3645, 3331, 3005, 2708, 2486, 2371, 2346, 2365, 2385, 2388, 2375, 2361, 2391, 2525, 2805, 3227, 3744, 4291, 4814, 5280, 5666, 5958, 6144, 6232, 6234, 6163, 6031, 5849, 5630, 5391, },
/* LAT: -30 */ { 4877, 4635, 4395, 4160, 3933, 3714, 3494, 3263, 3007, 2731, 2474, 2293, 2225, 2251, 2318, 2388, 2453, 2501, 2521, 2532, 2602, 2807, 3175, 3666, 4199, 4695, 5110, 5425, 5626, 5725, 5751, 5724, 5644, 5511, 5331, 5114, 4877, },
/* LAT: -20 */ { 4320, 4106, 3896, 3691, 3495, 3312, 3143, 2979, 2801, 2602, 2411, 2279, 2240, 2286, 2376, 2487, 2614, 2740, 2826, 2859, 2886, 2986, 3232, 3620, 4072, 4498, 4843, 5075, 5179, 5186, 5155, 5108, 5026, 4898, 4731, 4534, 4320, },
/* LAT: -10 */ { 3790, 3628, 3474, 3327, 3191, 3071, 2967, 2875, 2776, 2661, 2539, 2440, 2397, 2424, 2513, 2642, 2798, 2955, 3076, 3136, 3150, 3179, 3306, 3562, 3890, 4212, 4475, 4635, 4668, 4615, 4548, 4485, 4397, 4272, 4123, 3958, 3790, },
/* LAT: 0 */ { 3412, 3318, 3233, 3160, 3105, 3066, 3039, 3019, 2994, 2945, 2865, 2772, 2693, 2665, 2709, 2814, 2946, 3081, 3194, 3268, 3298, 3321, 3398, 3558, 3769, 3983, 4162, 4266, 4271, 4202, 4114, 4022, 3911, 3780, 3645, 3520, 3412, },
/* LAT: 10 */ { 3282, 3251, 3230, 3225, 3249, 3296, 3351, 3403, 3436, 3426, 3356, 3242, 3117, 3024, 3001, 3044, 3126, 3224, 3324, 3409, 3472, 3535, 3624, 3744, 3881, 4020, 4140, 4209, 4210, 4147, 4037, 3894, 3732, 3572, 3436, 3339, 3282, },
/* LAT: 20 */ { 3399, 3401, 3426, 3479, 3570, 3690, 3818, 3934, 4014, 4025, 3952, 3810, 3645, 3507, 3434, 3424, 3460, 3534, 3631, 3728, 3820, 3919, 4030, 4143, 4252, 4365, 4468, 4533, 4543, 4483, 4345, 4142, 3914, 3704, 3540, 3439, 3399, },
/* LAT: 30 */ { 3722, 3727, 3780, 3878, 4020, 4190, 4365, 4520, 4628, 4654, 4581, 4426, 4239, 4077, 3974, 3930, 3935, 3987, 4075, 4174, 4272, 4379, 4496, 4613, 4734, 4861, 4983, 5069, 5094, 5035, 4877, 4637, 4362, 4107, 3908, 3778, 3722, },
/* LAT: 40 */ { 4222, 4218, 4281, 4403, 4568, 4754, 4937, 5093, 5198, 5224, 5156, 5008, 4823, 4651, 4525, 4451, 4427, 4451, 4512, 4593, 4680, 4778, 4893, 5027, 5178, 5341, 5492, 5602, 5640, 5584, 5427, 5188, 4914, 4655, 4444, 4298, 4222, },
/* LAT: 50 */ { 4832, 4822, 4875, 4983, 5128, 5286, 5436, 5557, 5631, 5641, 5579, 5453, 5292, 5130, 4994, 4898, 4845, 4834, 4860, 4911, 4981, 5073, 5192, 5342, 5518, 5703, 5869, 5985, 6028, 5982, 5850, 5655, 5431, 5216, 5036, 4905, 4832, },
/* LAT: 60 */ { 5393, 5377, 5402, 5463, 5548, 5641, 5729, 5796, 5830, 5823, 5770, 5677, 5557, 5430, 5312, 5217, 5151, 5118, 5117, 5146, 5203, 5290, 5408, 5556, 5722, 5890, 6037, 6139, 6182, 6159, 6076, 5950, 5805, 5663, 5541, 5448, 5393, },
/* LAT: 70 */ { 5726, 5704, 5699, 5710, 5731, 5757, 5781, 5796, 5797, 5779, 5741, 5685, 5616, 5540, 5467, 5404, 5357, 5329, 5325, 5345, 5391, 5460, 5552, 5661, 5778, 5892, 5990, 6062, 6101, 6104, 6075, 6022, 5955, 5885, 5819, 5765, 5726, },
/* LAT: 80 */ { 5790, 5772, 5756, 5744, 5733, 5724, 5714, 5703, 5688, 5671, 5649, 5625, 5598, 5572, 5547, 5527, 5514, 5509, 5515, 5530, 5556, 5591, 5634, 5682, 5732, 5779, 5822, 5856, 5880, 5893, 5895, 5888, 5873, 5854, 5832, 5810, 5790, },
/* LAT: 90 */ { 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, 5684, },
};
src/lib/world_magnetic_model/test_geo_lookup.cpp
+5003 -5003
View File
File diff suppressed because it is too large Load Diff
src/modules/ekf2/test/change_indication/iris_gps.csv
+3 -3
View File
@@ -93,7 +93,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
9090000,0.98,-0.0055,-0.013,0.19,0.0038,0.1,-0.0093,0.0032,0.14,-0.032,-1.7e-05,-5.6e-05,-8.8e-07,0,0,-0.0014,0.37,0.0037,0.025,0,0,0,0,0,0.00019,0.00046,0.00046,0.00039,1.3,1.3,0.016,4.2,4.2,0.053,1.1e-08,1.1e-08,6.1e-08,4e-06,4e-06,8.4e-08,0,0,0,0,0,0,0,0
9190000,0.98,-0.0054,-0.013,0.19,0.0073,0.11,-0.0088,0.0037,0.15,-0.032,-1.7e-05,-5.6e-05,2.7e-06,0,0,-0.0014,0.37,0.0037,0.025,0,0,0,0,0,0.00019,0.00047,0.00047,0.00038,1.4,1.4,0.016,4.7,4.7,0.052,1.1e-08,1.1e-08,5.5e-08,4e-06,4e-06,8e-08,0,0,0,0,0,0,0,0
9290000,0.98,-0.0053,-0.013,0.19,0.0095,0.11,-0.0072,0.0044,0.15,-0.03,-1.7e-05,-5.6e-05,3.6e-06,0,0,-0.0014,0.37,0.0037,0.025,0,0,0,0,0,0.00019,0.00047,0.00047,0.00037,1.5,1.5,0.015,5,5,0.052,1.1e-08,1.1e-08,5e-08,4e-06,4e-06,7.6e-08,0,0,0,0,0,0,0,0
9390000,0.98,-0.0052,-0.013,0.19,0.0097,0.11,-0.0061,0.0055,0.16,-0.03,-1.7e-05,-5.6e-05,-2.4e-08,0,0,-0.0014,0.37,0.0037,0.025,0,0,0,0,0,0.00019,0.00048,0.00048,0.00036,1.6,1.6,0.015,5.5,5.5,0.052,1.1e-08,1.1e-08,4.6e-08,4e-06,4e-06,7.3e-08,0,0,0,0,0,0,0,0
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9490000,0.98,-0.0053,-0.013,0.19,0.0094,0.11,-0.0044,0.0061,0.17,-0.027,-1.7e-05,-5.7e-05,1.2e-06,0,0,-0.0014,0.37,0.0037,0.025,0,0,0,0,0,0.00019,0.00047,0.00047,0.00035,1.6,1.6,0.015,5.8,5.8,0.051,1e-08,1e-08,4.2e-08,4e-06,4e-06,7e-08,0,0,0,0,0,0,0,0
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
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