Use Geodetic Converter for NED<->GPS conversions #3839
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Hi @rajat2004! What is the state of this PR? |
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I haven't been able to test this out, and verify if the GPS accuracy is better or worse. It can be closed if preferred |
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We did some sanity-checking on the new output of the GPS sensor, and it looks reasonable to us, plus we didn't observe any performance regression with this PR applied, so we decided we'd like to merge this. thank you for the submission, @rajat2004! |
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Fixes: #
About
This PR updates the environment code to use GeodeticConverter instead of EarthUtils which is potentially more inaccurate, described a bit in #1855 (comment), #3364 (comment)
The PR also includes the fixes described in ethz-asl/geodetic_utils#36, ethz-asl/geodetic_utils#28
How Has This Been Tested?
A fair bit of testing needs to be done, to verify that GPS inaccuracy doesn't increase. Unit tests for GeodeticConverter itself which be a good option, something to keep in mind. This was earlier tested with ArduPilot without any problems, but also without any noticeable improvement in the GPS performance. Testing with PX4 will also be good
Screenshots (if appropriate):