GPS Nav, Camera, and Overall Code Fixes From Testing Session 2

[ClayJay3]

Main Changes

• TagDetector struct changes to make it impossible to improperly set tag corner vector pointers.
• Added a new key to trigger a clean exit of autonomy with a core dump. (CNTL + \)
• Updated to new version of RoveComm.
• Added new data attributes to GPS accuracy data packet. We now have GPS fix type and a boolean flag for differential GPS.
• Completely reworked GPS fusion ingestion for ZEDCam class. Should help with speed and no longer breaks encapsulation.
• Added a new folder bind in the data/zed folder for storing camera calibrations so we don't have to rely on an internet connection when connecting new cameras for the first time.

GPS Fusion Changes

• GPS Fusion is now easily toggleable in constants.
• GPS Fusion when enabled will use the GPSCoordinate.isDifferential flag to automatically switch between fusion and realigning ZED pose while in idle state.

ZEDCam Changes

• The ZEDSDK only supports the use of floats for storing the pose X, Y, Z of the camera. In our case we use relative positional tracking (VIO) to track our global position by setting the camera pose to our current UTM position. This is too inaccurate because UTM values can become too big to store the large integer part of the number (4200000) and also a decimal value (.345). To fix this we now handle the pose ourselves with a new ZEDCam::Pose struct. This struct stores doubles and combines the normal sl::Pose from the camera with an offset and stores everything as doubles.

Threading Changes

• AutonomyThread.hpp now uses a condition variable to block the Start() method until the thread state becomes eRunning. This makes it so that there are no possible race conditions when Autonomy_Software is starting. Whereas before, the start behavior was undefined.

Other Changes

• The default GPS location is now Rolla instead of 0, 0.
• Cleaned up #includes

Known Issues

There's a fucking segfault somewhere, but I can't catch it with the debugger and I'm not even sure if it's my code.

[ClayJay3]

Self Reviewed