Magnetometer

To simulate the measurements produced by a magnetometer, we resort to the same declination D, nclination I angles, and magnetic strength S pre-computed tables provided in PX4-SITL [MHP15], obtained from the World Magnetic Model (WMM) from 2018 [oC20].

Author: Marcelo Jacinto (marcelo.jacinto@tecnico.ulisboa.pt)
License: BSD-3-Clause. Copyright (c) 2023, Marcelo Jacinto. All rights reserved.
Description: Simulates a magnetometer. Based on the original implementation provided in PX4 stil_gazebo (https://github.com/PX4/PX4-SITL_gazebo) by Elia Tarasov

Classes:

Magnetometer

The class that implements a magnetometer sensor.

class pegasus.simulator.logic.sensors.magnetometer.Magnetometer

Bases: Sensor

The class that implements a magnetometer sensor. This class inherits the base class Sensor.

Methods:

`__init__`([config])	Initialize the Magnetometer class
`update`(state, dt)	Method that should be implemented by the class that inherits Sensor.

Attributes:

state

(dict) The 'state' of the sensor, i.e. the data produced by the sensor at any given point in time.

__init__(config={})

Initialize the Magnetometer class

Parameters:: config (dict) – A Dictionary that contains all the parameters for configuring the Magnetometer - it can be empty or only have some of the parameters used by the Magnetometer.

Examples

The dictionary default parameters are

>>> {"noise_density": 0.4e-3,           # gauss / sqrt(hz)
>>>  "random_walk": 6.4e-6,             # gauss * sqrt(hz)
>>>  "bias_correlation_time": 6.0e2,    # s
>>>  "update_rate": 250.0}              # Hz

update(state, dt)

Method that should be implemented by the class that inherits Sensor. This is where the actual implementation of the sensor should be performed.

Parameters:

state (State) – The current state of the vehicle.
dt (float) – The time elapsed between the previous and current function calls (s).

Returns:

(dict) A dictionary containing the current state of the sensor (the data produced by the sensor)

property state: (dict) The ‘state’ of the sensor, i.e. the data produced by the sensor at any given point in time