Added consistent bias seed.

[iandareid]

There should be a way to enable consistent bias between boots. Though as it stands this is one line of code, I think a discussion is warranted, hence a PR.

I think that this implementation is clunky since it requires a rebuild, but it is not something that would be changed often. Perhaps it is good enough?

Another alternative is to find some way to pass it as a launch argument, but the route to do that is unclear to me.

Thoughts?

[bsutherland333]

I agree it's a bit clunky but it could be sufficient. I think we have these options:

• Fixed values, which is essentially what this is
• Values that change every re-compile
• Values that change every re-run (not great)
• Values that change the first time SIL is run (maybe if no memory file is found?)
• Values that are based on system information, resulting in different values for every system

Fixed values is honestly fine. If we wanted something fancier then I think using the memory file to save a seed somehow would be a good option. Probably more work than is necessary.

[bsutherland333]

Runtime arguments could also work, sorry I missed that

[iandareid]

Based on this conversation I think we should leave it as a comment and just add documentation to this issue and mention it on the website.

[JMoore5353]

Adding a fixed value in the code seems like a reasonable solution:

• Likely a small number of users will want to have a varying bias.
• Similar to the physical system, where the biases only need to be calibrated once.

I wonder if the other solutions are more work than is necessary (and for practical use of ROSflight).

[iandareid]

I added a separate noise generator to make the noise random on each boot, but have the noises remain consistent.