yaml changes

yaml/M600b/params.yaml

@@ -38,11 +38,11 @@ config:
       name: "IMU_odometer"
       plugin: "imu"
       follow: "../sensor_bno.yaml"
-    -
-      type: "SensorCompass"
-      name: "compass"
-      plugin: "imu"
-      follow: "sensor_bno_compass.yaml"
+    #-
+    #  type: "SensorCompass"
+    #  name: "compass"
+    #  plugin: "imu"
+    #  follow: "sensor_bno_compass.yaml"
     -
       type: "SensorGnss"
       name: "gnss"
@@ -58,18 +58,24 @@ config:
       sensor_name: "IMU_odometer"
       plugin: "imu"
       follow: "../processor_imu.yaml"
-    -
-      type: "ProcessorCompass"
-      name: "processor compass"
-      sensor_name: "compass"
-      plugin: "imu"
-      follow: "../processor_compass.yaml"
+    #-
+    #  type: "ProcessorCompass"
+    #  name: "processor compass"
+    #  sensor_name: "compass"
+    #  plugin: "imu"
+    #  follow: "../processor_compass.yaml"
     -
       type: "ProcessorTrackerGnss"
       name: "processor gnss"
       sensor_name: "gnss"
       plugin: "gnss"
       follow: "processor_gnss.yaml"
+    -
+      type: "ProcessorFixWingModel"
+      name: "processor fix wing"
+      sensor_name: "IMU_odometer"
+      plugin: "core"
+      follow: "processor_fix_wing.yaml"
       
   ROS subscriber:
     -
@@ -84,12 +90,12 @@ config:
       sensor_name: "IMU_odometer"
       package: "wolf_ros_imu"
       follow: "subscriber_imu.yaml"
-    -
-      type: "SubscriberCompass"
-      topic: "/bno055_imu/magnetometer"
-      sensor_name: "compass"
-      package: "wolf_ros_imu"
-      follow: "subscriber_imu.yaml"
+    #-
+    #  type: "SubscriberCompass"
+    #  topic: "/bno055_imu/magnetometer"
+    #  sensor_name: "compass"
+    #  package: "wolf_ros_imu"
+    #  follow: "subscriber_imu.yaml"
     -
       type: "SubscriberGnssFixPublisherEcef"
       topic: "/ublox_gps/fix" 

yaml/scrab/params.yaml

@@ -48,7 +48,7 @@ config:
       name: "gnss"
       plugin: "gnss"
       extrinsic:
-         pose: [1.36, -0.04, 0.280] # BNO055 in rosbag
+         pose: [0,0,0]#[1.36, -0.04, 0.280] # BNO055 in rosbag
       follow: "../sensor_f9t.yaml"
 
   processors: