Create first draft of backpack side script for health monitor

mcorah commented 2 years ago

mcorah commented 2 years ago

What do we want to check regarding GPS health

Covariance: all diagonal terms should be smaller than 20cm standard deviation... 0.04m2 (nav/odom)
Receiving LTE updates
Dual antenna status (are both antennas working?)
Status fields on messages (i.e. make sure bit-mask flags are at least nominal and warn otherwise). Examples: covariance type for NavSatFix. What is nominal for us regarding NavSatStatus. GNSSAidingStatus will probably be important (and that will likely lead us to our issues with large covariances on some backpacks). RTKStatus, FilterStatus, DualAntennaStatus.

P.S. Hannah's script might be a good reference for establishing what default behavior should look like.

YifanSu1301 commented 2 years ago

I cannot find topic have DualAntennaStatus.

mcorah commented 2 years ago

That should be under nav/dual_antenna_status. Here. Is that being published?

castacks / multidrone_reconstruction_dummy