Aayush/Altitude-Bug-Fix#32
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Pull request overview
This PR tightens FullPose initialization so the composite pose is only buffered after both the attitude and local-position submessages have been initialized. In the context of the message aggregation layer, that helps avoid publishing an invalid early pose sample that could skew altitude/pose consumers during startup.
Changes:
- Add an early return in
FullPose.pose_callbackwhen either attitude or local-position timestamps are still uninitialized. - Keep the existing timestamp-skew filter for mismatched attitude/local-position samples.
- Cast the averaged composite timestamp to a native Python
floatbefore storing it.
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Fixed a small bug where we accessed the local position before it is established which would cause the altitude to frick up. It seem to happen more often on Arc Main Field West.