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Scripts to emulate GPS for GPS denied autonomous flights in APM

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emulate GPS

  • GPS setHIL takes timestamp in milliseconds, hence you should update it in a frequency less than 5hz, to have reasonable amount of difference in timestamps for extrapolation. Hence, odom is published at 4 Hz
  • Files changed: 2 files from ardupilot, One mavros_vision plugin.
  • param set EKF_GPS_TYPE,2 COMPASS_USE,1 AHRS_GPS_GAIN,0.0
  • Use velocity from GPS == false in setHIL
  • All necessary packages added to this repo
  • To reduce GT publish rate: measurement_divisor="100" measurement_delay="100" in albatross_spawn.launch
  • Takes odometry position input from /albatross/ground_truth/odometry and sends MAVLINK msg to APM with emulated GPS.

maintained by: Manash Pratim Das (mpdmanash at iitkgp . ac . in)

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