• Tickets addressed: bsk-348
• Review: By commit
• Merge strategy: Merge (no squash)

Description

This PR refactors the inertialAttitudeUkf module to accept the IMUSensorMsgPayload message. Currently, the inertialAttitudeUkf module accepts the AccDataMsgPayload message. A separate converter module is also added to this PR to convert from the AccDataMsgPayload message to the IMUSensorMsgPayload message. The result of this PR is the ability to either subscribe the imuSensor module output IMUSensorMsgPayload message directly to the inertialAttitudeUkf module, or to use the new converter module to convert the more realistic AccDataMsgPayload message to the IMUSensorMsgPayload message and subsequently subscribe the IMUSensorMsgPayload message to the inertialAttitudeUkf module.

The first commit of this PR adds two new variables to the IMUSensorMsgPayload: timeTag and numberOfValidGyroMeasurements. These parameters are required to be known in the inertialAttitudeUkf module. The second commit of this PR refactors the inertialAttitudeUkf module to accept the IMUSensorMsgPayload message. The third commit adds a miruLowPassFilterConverter to the sensorInterfaces folder that will interface with the inertialAttitudeUkf module. The fourth commit adjusts the inertialAttitudeUkf unit test file to use the new IMUSensorMsgPayload message.

Verification

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Documentation

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Future work

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