Refactored code to reference multi beam sensors instead of specifically the PILLS sensor. This will make it easier to add new multi beam sensors in the future.
The lidar_sensors.json now has a "type" field that notes if the sensor is single or multi beam. The sensor type is stored in the sensor class. Checks for if the sensor name is PILLS were replaced by checks if the type is multi.
The name for the PILLS sensor has been updated to "PILLS or RAMMS", as the RAMMS sensor has the same TPU calculations as PILLS.
Sbet.py still checks if the sensor name is "PILLS or RAMMS", as the preprocess_pills_sbet is a unique function for those sensors.
Refactored code to reference multi beam sensors instead of specifically the PILLS sensor. This will make it easier to add new multi beam sensors in the future.
The lidar_sensors.json now has a "type" field that notes if the sensor is single or multi beam. The sensor type is stored in the sensor class. Checks for if the sensor name is PILLS were replaced by checks if the type is multi.
The name for the PILLS sensor has been updated to "PILLS or RAMMS", as the RAMMS sensor has the same TPU calculations as PILLS.
Sbet.py still checks if the sensor name is "PILLS or RAMMS", as the preprocess_pills_sbet is a unique function for those sensors.