enh: update default values for SMS Motion Gen 2 noise parameters to latest official (#87)

Author: ali-cetin-4ss

src/smsfusion/constants/__init__.py

@@ -1,15 +1,11 @@
 from ._constants import (
-    ERR_ACC_MOTION1,
     ERR_ACC_MOTION2,
-    ERR_GYRO_MOTION1,
     ERR_GYRO_MOTION2,
     P0,
 )
 
 __all__ = [
-    "ERR_ACC_MOTION1",
     "ERR_ACC_MOTION2",
-    "ERR_GYRO_MOTION1",
     "ERR_GYRO_MOTION2",
     "P0",
 ]

src/smsfusion/constants/_constants.py

@@ -1,17 +1,8 @@
 import numpy as np
 
-ERR_ACC_MOTION1 = {
-    "N": 0.004,  # (m/s^2)/sqrt(Hz)
-    "B": 0.0007,  # m/s^2
-    "tau_cb": 50.0,  # s
-}
-
-ERR_GYRO_MOTION1 = {
-    "N": 0.00009,  # (rad/s)/sqrt(Hz)
-    "B": 0.00003,  # rad/s
-    "tau_cb": 50.0,  # s
-}
+P0 = np.eye(12) * 1e-6
 
+# Noise and bias parameters for SMS Motion Gen 2
 ERR_ACC_MOTION2 = {
     "N": 0.0007,  # (m/s^2)/sqrt(Hz)
     "B": 0.0005,  # m/s^2
@@ -20,8 +11,6 @@
 
 ERR_GYRO_MOTION2 = {
     "N": 0.00005,  # (rad/s)/sqrt(Hz)
-    "B": 0.00003,  # rad/s
+    "B": 0.00005,  # rad/s
     "tau_cb": 50.0,  # s
 }
-
-P0 = np.eye(12) * 1e-6

tests/test_constants.py

@@ -4,36 +4,6 @@
 from smsfusion import constants
 
 
-def test_ERR_ACC_MOTION1():
-    err_expect = {
-        "N": 0.004,
-        "B": 0.0007,
-        "tau_cb": 50.0,
-    }
-
-    err_out = constants.ERR_ACC_MOTION1
-
-    assert set(err_out.keys()) == set(err_expect.keys())
-
-    for key_i in err_expect:
-        assert err_out[key_i] == approx(err_expect[key_i])
-
-
-def test_ERR_GYRO_MOTION1():
-    err_expect = {
-        "N": 0.00009,
-        "B": 0.00003,
-        "tau_cb": 50.0,
-    }
-
-    err_out = constants.ERR_GYRO_MOTION1
-
-    assert set(err_out.keys()) == set(err_expect.keys())
-
-    for key_i in err_expect:
-        assert err_out[key_i] == approx(err_expect[key_i])
-
-
 def test_ERR_ACC_MOTION2():
     err_expect = {
         "N": 0.0007,
@@ -52,7 +22,7 @@ def test_ERR_ACC_MOTION2():
 def test_ERR_GYRO_MOTION2():
     err_expect = {
         "N": 0.00005,
-        "B": 0.00003,
+        "B": 0.00005,
         "tau_cb": 50.0,
     }
 

tests/test_noise.py

@@ -122,10 +122,10 @@ def test__init__default(self):
         assert noise._seed is None
 
     def test__init__constants(self):
-        noise = NoiseModel(**sf.constants.ERR_ACC_MOTION1)
-        assert noise._N == sf.constants.ERR_ACC_MOTION1["N"]
-        assert noise._B == sf.constants.ERR_ACC_MOTION1["B"]
-        assert noise._tau_cb == sf.constants.ERR_ACC_MOTION1["tau_cb"]
+        noise = NoiseModel(**sf.constants.ERR_ACC_MOTION2)
+        assert noise._N == sf.constants.ERR_ACC_MOTION2["N"]
+        assert noise._B == sf.constants.ERR_ACC_MOTION2["B"]
+        assert noise._tau_cb == sf.constants.ERR_ACC_MOTION2["tau_cb"]
         assert noise._K is None
         assert noise._tau_ck is None
         assert noise._bc == 0.0