RTK position and heading #654
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A problem I just realized with this PR is that earlier we merged the gps driver into integration for testing, so now you can only review the parts we uncommented instead of the whole thing. Maybe we should delete that file from integration temporarily to review this when its ready? |
qhdwight
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Summary
Closes #618, #617, #142
What features did you add, bugs did you fix, etc?
Modified GPS driver and linearization nodes to support dual RTK GPS positioning and heading calculation.
Did you add documentation to the wiki?
No, TODO
How was this code tested?
RTK functionality was tested on the GPS hardware and accuracy was compared between different RTK statuses. GPS heading was tested successfully in the simulator using simulated left and right GPSs, and on the real hardware which didn't work as well.
Did you test this in sim?
Yes
Did you test this on the rover?
Yes, verified functionality not accuracy
Did you add unit tests?
No