This allows for a quicker update from sensors if the estimator runs at the default priority of the estimator class. If there is no direct sensor pass-through then it will wait for an estimator update.
The GPS simulation now mimicks the real driver more closely and should provide even GPS delays. The delays themselves are set by the simulator, and default to 120 ms for Gazebo
This change plus the new FPGA RTL(version 0xC1 or higher) will make
use of the new I2C bus, this new bus will be shared between aerofc_adc
and ll40ls(if connected) and leaving the old bus just to IST8310.
The UART3 also have the I2C bus 2 functions so moving GPS to UART7 to
have one additional I2C.
To keep GPS working is also necessary update the FPGA RTL to version
0xC1 or higher.
When trying to move the selected power source to the first publication instance
on systems where there is only one power source, the compiler issued the warning
```
../src/modules/sensors/sensors.cpp:512:54: error: array subscript is outside array bounds [-Werror=array-bounds]
tmp_h = _battery_pub[_battery_pub_intance0ndx];
```
because it could not verify that _battery_pub_intance0ndx would always be 0.
Wrap the block between `#if BOARD_NUMBER_BRICKS > 1 [...] #endif`
to ensure no out of bound subscript and to remove the warning.
Remove unused _battery_pub_intance0ndx variable when nb bricks = 1
If the build config specifies RTPS topics to import/export and fastrtpsgen is not installed
on the build machine, then a dummy stub is used for the RTPS bridge.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The simulation engine had the ability to pause already and properly handled load spikes, however, it was not hardened against constant drift. This addition enables it to run at a constant slower-than-realtime rate successfully.
Lorenz Meier
José Roberto de Souza
Julien Lecoeur
Daniel Agar
Vicente Monge
Mark Charlebois
Dennis Mannhart