Feature/v2.1.14

[rikba]

Updates to Piksi Multi 2.1. Addresses #56.

An immediate improvement is incorporation of Galileo, Beidou, and improved SBAS. See https://www.swiftnav.com/resource-files/Piksi%20Multi/v2.0.0/Release%20Notes/PiksiMulti-v2.0.0-ReleaseNotes.pdf and https://www.swiftnav.com/resource-files/Piksi%20Multi/v2.1/Release%20Notes/PiksiMulti-v2.1-ReleaseNotes.pdf.

Features:

• Update SBD to v2.4.1 and Piksi Multi Firmware to v2.1.14
  • Update install script
  • Replace TrackingState with MeasurementState, see https://www.swiftnav.com/resource-files/Piksi%20Multi/v2.0.0/Release%20Notes/PiksiMulti-v2.0.0-ReleaseNotes.pdf
• Replace tagged message names with normal names, e.g. ReceiverState_V2_3_15->ReceiverState.

TODO:

• Test RTK with WiFi corrections
• Test KML offline converter
• Test RTK with XBEE corrections
• Test GUI
• Update and Readme.md Wiki
• Update version tag

Test RTK with WiFi corrections

Setup

Roof terrace LEE with base station and single rover.

• Rover rosbag without DJI: https://polybox.ethz.ch/index.php/s/OxoyosileHvcLci
• Rover rosbag with DJI powered: https://polybox.ethz.ch/index.php/s/JediYLtI2boZQnd

Results

• Stable RTK fix even close to house
• Strong satellites including GPS, SBAS, Glonass, Baidou and Galileo on base station using SwiftNav antenna
  
• Strong satellites including GPS, SBAS, Glonass, and Galileo on rover using Tallysman TW8829
  
• No drop when powering DJI M600 drone and remote control
• No warnings or error messages

[kinergy]

is this PR going to be integrated sometime?

[marco-tranzatto]

@rikba do you have time to apply the changes we discussed about the new message definitions based on firmware version?

[rikba]

Hi @marco-tranzatto
I reverted to the versioned message naming convention. Please have a look. I'll test it in hardware now.

[marco-tranzatto]

@kholtmann please check with me as well

[rikba]

GUI now also shows Galileo and Beidou satellites.

[rikba]

Today we also tested this branch with http://store.rfdesign.com.au/rfd-868x-modem/ and it worked well. Fix in less than 15 seconds.

Here is the Wiki https://github.com/ethz-asl/ethz_piksi_ros/wiki/RFD-868x-Modem

[marco-tranzatto]

@rikba thanks for your great work! After you approve PR #73 we can merge this PR ;)

[marco-tranzatto]

Today we also tested this branch with http://store.rfdesign.com.au/rfd-868x-modem/ and it worked well. Fix in less than 15 seconds.

Here is the Wiki https://github.com/ethz-asl/ethz_piksi_ros/wiki/RFD-868x-Modem

Wooow! @kholtmann this radio seems very interesting!

[kholtmann]

Nice work! Thank you @rikba