Name: emulate_GPS
Owner: Aerial Robotics Kharagpur
Description: Scripts to emulate GPS for GPS denied autonomous flights in APM
Created: 2017-08-26 12:22:33.0
Updated: 2017-08-26 12:28:26.0
Pushed: 2017-08-26 12:28:16.0
Homepage:
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Size: 38018
Language: C++
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README
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)
