• GPS setHIL takes timestamp in milliseconds, hence you should update it in a frequency less than 5hz, to have reasonable amount of difference in timestamps for extrapolation. Hence, odom is published at 4 Hz
• Files changed: 2 files from ardupilot, One mavros_vision plugin.
• param set EKF_GPS_TYPE,2 COMPASS_USE,1 AHRS_GPS_GAIN,0.0
• Use velocity from GPS == false in setHIL
• All necessary packages added to this repo
• To reduce GT publish rate: measurement_divisor="100" measurement_delay="100" in albatross_spawn.launch
• Takes odometry position input from /albatross/ground_truth/odometry and sends MAVLINK msg to APM with emulated GPS.

maintained by: Manash Pratim Das (mpdmanash at iitkgp . ac . in)