Piksi upgrades + test

[tanishqaggarwal]

• Take Quake SBDIX into account
• Testing Piksi dead
• Test Piksi float -> fixed RTK

[tanishqaggarwal]

Need to modify ClockManager as well to update "propagated" GPS time

[tanishqaggarwal]

Need to unit-test that the output values are initialized to NaNs

[tanishqaggarwal]

The reported GPS position should be the GPS position of the center of mass (this is distinct from the GPS position of the GPS antenna face.) A position offset therefore needs to be added for all CDGPS measurements.

[tanishqaggarwal]

We need to add a time offset since the hardware-stored GPS time offset is sometime in 2000

[tanishqaggarwal]

The reported GPS position should be the GPS position of the center of mass (this is distinct from the GPS position of the GPS antenna face.) A position offset therefore needs to be added for all CDGPS measurements.

@nhz2 @kkrol27 In my notes from last semester I found that we want to offset the computed GPS position for the sake of the control algorithm. Is this still necessary under the new orbital control algorithm?

[kylekrol]

The reported GPS position should be the GPS position of the center of mass (this is distinct from the GPS position of the GPS antenna face.) A position offset therefore needs to be added for all CDGPS measurements.

@nhz2 @kkrol27 In my notes from last semester I found that we want to offset the computed GPS position for the sake of the control algorithm. Is this still necessary under the new orbital control algorithm?

This will really only be an issue when we have RTK and are in very close approach.

[shihaocao]

PIksi should set values to NaN anytime an uncessusful read was performed that control cycle

[tanishqaggarwal]

Piksi data gets reported into state fields in mm, not m

[kylekrol]

We're only listening to fixed RTK mode, NaNs are a thing of the past and taken of somewhere else. The only potentially open issue is Piksi readings during SBDIX; however, we're deeming this very low priority.

[shihaocao]

Closing as we don't need any RTK interference code, and we have piksi dead as a fault