Determine how to remove measurements from DVL from odometry estimator

[cbrxyz]

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Deadline

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What needs to change?

Currently, our odometry estimator for SubjuGator uses measurements from the DVL component. This is great, as it allows us to have more accurate odometry estimations by including measurements from a critical sensor on SubjuGator.

However, sometimes, this bites us in the butt a little. Sometimes, the DVL is unavailable or unreliable, and its reading may mess up the odometry estimator. We should find a way to disable the inputs from the DVL going into the odometry estimator when we want to. Furthermore, we should be able to re-enable the inputs from the sensor going into the odometry estimator.

The math behind the odometry estimator is a little complicated, which complicates the problem a little bit. Feel free to try several ways to solve the problem, and see which one works best for our use case.

How would this task be tested?

1. Show that the input from DVL into the odometry estimator can be disabled at a user's request. There should likely be some output message or some way of clearly seeing that this input has been disabled.
2. Show that the data from the DVL can be re-enabled. There should likely be some other message indicating that the input into the odometry estimator has been re-enabled.

Contacts

• [ ] We need help from the mechanical team.
• [ ] We need help from the electrical team.
• [ ] We need help from Dr. Schwartz or other faculty.
• [ ] We need help from a company or an organization.
• [ ] We need help from another UF staff member or organization (ex, facilities).