Write speed estimate node

[smaria]

write node that estimates boat speed from IMU data

[tsaoyu]

New driver has been used to estimate speed from GPS.

Also, this new drive support a better way to define GPS update rate, operating mode, and baud rate.

[tsaoyu]

The idea of high level sensor fusion was bring up again this year. With GPS and IMU sensor fusion, it is possible to get velocity estimation of the sailing robot. Speed of boat is important to further improve the performance of our boat.

There are several intermediate steps for this task:

• [x] Get velocity from GPS GPS provides location of the boat. Velocity of boat can be derived from position of the boat. You will need to read our current GPS driver, find datasheet/manual of our devices, and write some code to get velocity from the GPS. (Check model and part number)

• [ ] Integrate GPS data The concept of sensor fusion is based on Kalman filter. Read the wikipedia if you aren't familiar with it. This document explain how to integrate GPS data in our system.

[tsaoyu]

When I was testing GPS velocity today, I found gpsmon is able to parse u-blox message.

[Nanoseb]

oh neat!