Sensors

Basic Setting

• udev
• rqt

Sensors

1. Range sensor for altitude

• LeddarOne

2. GPS

2.1 GPS with Magnetometer module

• Holybro M8N (deprecated)
• DP0105 (NEO-M9N GPS + LIS3MDL Magnetometer (out of production)

2.2 RTK GPS

• Holybro M8P/ ZED F9P

3. Magnetometer

3.1 embedded magnetometer in GPS module

• LIS3MDL (in DROTCK DP0105/DP0801)
• HMC5883 (stop production -> QMC5883, too noisy)

3.2 magnetic declination

• rqt: please refer to this PR
• find correct declination here
  • Tokyo: +0.1335 rad (west 7.65 deg)
  • This means that a compass in Tokyo points 7 degrees west of true north.

4. VIO sensor

• Realsense T265

• ZED stereo camera

5. RGBD sensor

• Realsense D435