Feature/issue 800 magnetometer noise

docs/source/Support/bskKnownIssues.rst

@@ -12,7 +12,10 @@ Version |release|
 -----------------
 - pip-based installation in editable mode using ``pip install -e .`` is not currently supported.
   Developers and users alike should continue to use ``python conanfile.py`` installation.
-
+- When using `senNoiseStd()` to set the sensor noise standard deviations
+  in :ref:`magnetometer` and :ref:`coarsesunsensor`
+  the value was being multiplied by 1.5 when creating the diagonal noise matrix.
+  This 1.5x multiplier has now been removed. This is corrected in current release.
 
 Version 2.5.0
 -------------

docs/source/Support/bskReleaseNotes.rst

@@ -50,6 +50,8 @@ Version  |release|
 - Updated :ref:`scenarioMonteCarloAttRW` to use more pythonic OOP for Monte Carlo data retention
 - Updated :ref:`scenarioMonteCarloSpice` to use more pythonic OOP for Monte Carlo data retention
 - Removed the now deprecated ``datashader_utilities.py`` in favor of the new bokeh plotting features in ``AnalysisBaseClass.py``
+- Removed the false 1.5x multiplier in :ref:`magnetometer` and :ref:`coarsesunsensor`
+  when setting 'senNoiseStd'
 
 
 Version 2.5.0 (Sept. 30, 2024)

src/simulation/sensors/coarseSunSensor/_UnitTest/test_coarseSunSensor.py

@@ -128,7 +128,7 @@ def setupCSS(CSS):
         CSS.kellyFactor = kelly
         CSS.scaleFactor = scaleFactor
         CSS.senBias = bias
-        CSS.senNoiseStd = noiseStd
+        CSS.senNoiseStd = noiseStd*1.5  # test value is adjusted after we no longer use 1.5 in the code.  No impact on the test validity
         CSS.albedoValue = albedoValue
         CSS.minOutput = minIn
         CSS.maxOutput = maxIn

src/simulation/sensors/coarseSunSensor/_UnitTest/test_coarseSunSensorFaults.py

@@ -46,11 +46,11 @@
 @pytest.mark.parametrize(
     "cssFault",
     [
-        "CSSFAULT_OFF",                           
-        "CSSFAULT_STUCK_CURRENT", 
-        "CSSFAULT_STUCK_MAX",     
-        "CSSFAULT_STUCK_RAND",    
-        "CSSFAULT_RAND",          
+        "CSSFAULT_OFF",
+        "CSSFAULT_STUCK_CURRENT",
+        "CSSFAULT_STUCK_MAX",
+        "CSSFAULT_STUCK_RAND",
+        "CSSFAULT_RAND",
     ])
 # provide a unique test method name, starting with test_
 def test_coarseSunSensor(cssFault):
@@ -73,7 +73,7 @@ def run(cssFault):
     # Create a simulation container
     unitTestSim = SimulationBaseClass.SimBaseClass()
     # unitTestSim.RNGSeed = 10
-    
+
     # Ensure simulation is empty
     testProc = unitTestSim.CreateNewProcess(testProcessName)
     testProc.addTask(unitTestSim.CreateNewTask(testTaskName, testTaskRate))
@@ -120,10 +120,10 @@ def run(cssFault):
         truthValue = 2.0
     elif cssFault == "CSSFAULT_STUCK_RAND":
         cssFaultValue = coarseSunSensor.CSSFAULT_STUCK_RAND
-        truthValue = 1.7278304838858731
+        truthValue = 1.7278304838858731/1.5
     elif cssFault == "CSSFAULT_RAND":
         cssFaultValue = coarseSunSensor.CSSFAULT_RAND
-        truthValue = 0.7974448327854251
+        truthValue = 0.7974448327854251/1.5
     else:
         NotImplementedError("Fault type specified does not exist.")
 
@@ -138,15 +138,20 @@ def run(cssFault):
     cssOutput = cssRecoder.OutputData[-1]
     print(cssOutput)
     print(truthValue)
-    
+
     if cssFault == "CSSFAULT_OFF":
         if not truthValue == cssOutput:
             testFailCount += 1
+            testMessages.append("css value didn't match")
     elif not unitTestSupport.isDoubleEqualRelative(cssOutput, truthValue, 1E-12):
         testFailCount += 1
+        testMessages.append("css value didn't match")
 
+    if testFailCount:
+        print(testFailCount)
+        print(testMessages)
     return [testFailCount, ''.join(testMessages)]
 
 
 if __name__ == "__main__":
-    run("CSSFAULT_STUCK_MAX")
+    run("CSSFAULT_STUCK_RAND")

src/simulation/sensors/coarseSunSensor/coarseSunSensor.cpp

@@ -134,7 +134,7 @@ void CoarseSunSensor::Reset(uint64_t CurrentSimNanos)
 
     this->noiseModel.setRNGSeed(this->RNGSeed);
 
-    nMatrix(0,0) = this->senNoiseStd*1.5;
+    nMatrix(0,0) = this->senNoiseStd;
     this->noiseModel.setNoiseMatrix(nMatrix);
 
     bounds(0,0) = this->walkBounds;
@@ -155,7 +155,7 @@ void CoarseSunSensor::Reset(uint64_t CurrentSimNanos)
 
     this->faultNoiseModel.setRNGSeed(this->RNGSeed+1);
 
-    nMatrixFault(0,0) = this->faultNoiseStd*1.5; // sensor noise standard dev
+    nMatrixFault(0,0) = this->faultNoiseStd; // sensor noise standard dev
     this->faultNoiseModel.setNoiseMatrix(nMatrixFault);
 
     boundsFault(0,0) = 2.0; // walk bounds

src/simulation/sensors/magnetometer/magnetometer.cpp

@@ -68,7 +68,7 @@ void Magnetometer::Reset(uint64_t CurrentSimNanos)
     }
 
     this->noiseModel.setUpperBounds(this->walkBounds);
-    auto nMatrix = (this->senNoiseStd * 1.5).asDiagonal();
+    auto nMatrix = this->senNoiseStd.asDiagonal();
     this->noiseModel.setNoiseMatrix(nMatrix);
     this->noiseModel.setRNGSeed(this->RNGSeed);
     Eigen::MatrixXd satBounds;