Update version of piksi_ins for odometry

[denniszollo]

This PR should pull in this version of piksi_ins which includes everything we know about.

https://github.com/swift-nav/pose_daemon_wrapper/pull/49

I expect it to work and not to crash.

Ideally, when testing approves, we should finalize this branch of pose_daemon_wrapper and just merge it to master, and then undo my hardcoded change in the .mk file.

[swiftnav-svc-jenkins]

HITL smoke tests: v2.3.0-develop-2019080116-12-g881f37ef2

These test runs are kicked off whenever you push a new commit to this PR. All passfail metrics in these runs must pass for the hitl/pass-fail status to be marked successful.

job status

• live-roof-650-townsend runs
• live-roof-650-townsend-dropouts-zero-baseline runs

gnss-analysis results

At least one run must complete for these links to have data.

passfail

• live-roof-650-townsend
• live-roof-650-townsend-dropouts-zero-baseline

detailed

• live-roof-650-townsend
• live-roof-650-townsend-dropouts-zero-baseline

[swiftnav-svc-jenkins]

v2.3.0-develop-2019080116-12-g881f37ef2

• Artifacts (HITL Dashboard Page)
• Artifacts (S3 / AWS Console)
• s3://swiftnav-artifacts-pull-requests/piksi_buildroot/v2.3.0-develop-2019080116-12-g881f37ef2

[benjaminaltieri]

Still seems to be an issue on startup. This is the end of the stdout log where it seems to be setting up the settings:

Registering settings.
Odometry noise 1: 0.28
Odometry noise 2: 0.28
Odometry noise 3: 0.28
Odometry noise 4: 0.28
Device to body frame roll degrees: 0
IMU to vehicle:
 0  1  0
-1  0  0
 0  0  1
Device to body frame pitch degrees: 0
IMU to vehicle:
-1  0  0
 0  0  1
Device to body frame pitch degrees: 0
IMU to vehicle:
 0  1  0
-1  0  0
 0  0  1
Device to body frame yaw degrees: 0
IMU to vehicle:
 0  1  0
-1  0  0
 0  0  1
Device to antenna offset X: 0
Device to antenna offset Y: 0
Device to antenna offset Z: -0.12674
Stillness detection enable: 1
Sideslip constrained: 1
Soln Freq updated: 10
Output cutoff: 10
Finished setup of read/write settings.
Finished setup of read-only settings.
Failed to register all message callbacks.

[benjaminaltieri]

results for live-roof-650-townsend-dropouts-smoothpose: https://hitl-viewer.ce.swiftnav.com/test_runs/metrics_preset=pass_fail&scenario=live-roof-650-townsend-dropouts-smoothpose&op=%21%3D&threshold=0&build_type=buildroot_pr&firmware_versions=v2.3.0-develop-2019080116-12-g881f37ef2

[denniszollo]

i figured out what is happening and why smoothpose wouldn't start. The odometry call back in piksi_ins was called twice in the odometry PR from steve. In libsbp, we check that a node doesn't already exist before inserting into the linked list. As such, when we tried to register the callback a second time, the process exited due to bad return code from libpiksi's callback register api:
https://github.com/swift-nav/pose_daemon_wrapper/pull/50/files#diff-d71ced6a91db8310fe619c9e0d3380a3R1601

[swiftnav-svc-jenkins]

HITL smoke tests: v2.3.0-develop-2019080116-13-g84456902a

These test runs are kicked off whenever you push a new commit to this PR. All passfail metrics in these runs must pass for the hitl/pass-fail status to be marked successful.

job status

• live-roof-650-townsend runs
• live-roof-650-townsend-dropouts-zero-baseline runs

gnss-analysis results

At least one run must complete for these links to have data.

passfail

• live-roof-650-townsend
• live-roof-650-townsend-dropouts-zero-baseline

detailed

• live-roof-650-townsend
• live-roof-650-townsend-dropouts-zero-baseline

[swiftnav-svc-jenkins]

v2.3.0-develop-2019080116-13-g84456902a

• Artifacts (HITL Dashboard Page)
• Artifacts (S3 / AWS Console)
• s3://swiftnav-artifacts-pull-requests/piksi_buildroot/v2.3.0-develop-2019080116-13-g84456902a