From dae7e7bf151ed85d3804aae948eb0c14eb1138aa Mon Sep 17 00:00:00 2001
From: umroverPerception <umroverPerception@gmail.com>
Date: Fri, 31 May 2024 23:28:00 -0400
Subject: [PATCH 1/2] Flip mast gimbal pitch and yaw

---
 config/esw.yaml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/config/esw.yaml b/config/esw.yaml
index 23682c7fb..9b6fc30ce 100644
--- a/config/esw.yaml
+++ b/config/esw.yaml
@@ -66,10 +66,10 @@ can:
       id: 0x26
     - name: "mast_gimbal_y"
       bus: 3
-      id: 0x30
+      id: 0x28
     - name: "mast_gimbal_z"
       bus: 3
-      id: 0x28
+      id: 0x30
     - name: "sa_x"
       bus: 1
       id: 0x29

From 97e59d8efecdcb8a995fcc7f54aa2abd0ca94762 Mon Sep 17 00:00:00 2001
From: qhdwight <qhdwight@gmail.com>
Date: Fri, 31 May 2024 21:33:44 -0600
Subject: [PATCH 2/2] Make RTK basestation node restart

---
 launch/basestation.launch | 1 +
 1 file changed, 1 insertion(+)

diff --git a/launch/basestation.launch b/launch/basestation.launch
index 30fb2d0f8..8e48807d8 100644
--- a/launch/basestation.launch
+++ b/launch/basestation.launch
@@ -22,6 +22,7 @@
   </group>
 
   <node if="$(arg rtk)" name="basestation_gps_driver" pkg="mrover" type="basestation_gps_driver.py"
+        respawn="true" respawn_delay="2"
         output="screen"/>
 
   <node if="$(arg network)" name="network_monitor" pkg="mrover" type="network_monitor.py"/>