Improve GPS error estimation in SITL test script

hmakelin / gisnav

Estimates airborne drone global position by matching video to map retrieved from onboard GIS server.

https://hmakelin.github.io/gisnav

MIT License

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Improve GPS error estimation in SITL test script #43

Closed hmakelin closed 1 year ago

hmakelin commented 1 year ago

Finds the closest-in-time VehicleGpsPosition message to compare the mock SensorGps message to instead of naively using the latest message. Brings down error estimate in the SITL simulation somewhat.