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Piksi upgrades + test #98
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Need to unit-test that the output values are initialized to NaNs |
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. |
We need to add a time offset since the hardware-stored GPS time offset is sometime in 2000 |
@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. |
PIksi should set values to NaN anytime an uncessusful read was performed that control cycle |
Piksi data gets reported into state fields in mm, not m |
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. |
Closing as we don't need any RTK interference code, and we have piksi dead as a fault |
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