46 seeding estimator #60
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These parameters are not used in this commit, only saved.
You can now override the calibration for GPS and baro with whatever value is in the parameters. The parameters are update on every calibration that does occur. This means that in flight you can immeadiatley restart as long as the seed_estimator flag is passed to the launch or run command.
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So essentially if the estimator crashes, your you need to restart it you can simply do |
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It does! Actually it may only work for symlink files... |
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To be fair, I think we should transition to have everyone by default use symlink installation. It is better in every way (I think). @JMoore5353 @bsutherland333 is this a bad idea? |
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It also works without it being symlinked installed (I just tested it). However, you won't see the saved parameters in the rosflight_ws. You have to go to the share folder to find the actual param file that gets loaded.
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Something we also want to keep in mind is if we ever publish binaries of ROSplane, then I don't think they'll be installing the source files at all, only the install folder. So if it doesn't work on a non-symlink build, then that would be a problem. |
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I hadn't even thought of the binaries. I think we should start testing ROSplane for that soonish. Any Idea on how that is done typically @bsutherland333? |
Since it does work for non-symlinked files, we should be fine correct? Obviously we will have to check, but it should, right? |
The estimator now saves the calibration of each of the initialization for lat, lon, alt and baro reading in the parameters file. You can now pass an argument to the estimator node individually or the launch file as a whole, that will allow you to boot using the saved initialization rather than calibrating again.