Comments (8)
Were the new thrusters in use at the last pool day? The sub was very stable near the end.
from subjugator.
Through testing it does not look like anything is being severely affected. There might be some small changes that we can not see through observation.
Here is some notes on it from uf-mil-archive: https://github.com/uf-mil-archive/getting-started/blob/master/magnetic-calibration.md
@forrestv Can you comment on this (you wrote that document)?
from subjugator.
Looking at the text, it appears that it is able to also account for the metal in the sub. Perhaps we should wait until the new chassis is built and assembled to do a full calibration.
from subjugator.
Looks like only hardsoft calibrations are being applied, per https://github.com/uf-mil/Sub8/blob/master/command/sub8_launch/launch/subsystems/nav_box.launch
from subjugator.
According to that launch it looks like the dynamic is being applied as well
from imu -- /imu/mag_raw
--> [dynamic compensation] -- /imu/mag_lessraw
--> [hardsoft compensation] -- /imu/mag
--> UKF
from subjugator.
You're correct - I don't have a good understanding of launch files, saw the remap and just assumed it did that without changing anything.
from subjugator.
The dynamic compensation may be running, but AFAIK it's not doing anything since the thruster drivers don't publish their magnetic field contributions like the Sub7 thruster drivers did. If nothing is being published on /imu/mag_generated_info
, that would confirm this. Given that, it's safe to remove from the launch file (though you'd have to keep everything connected by changing the remaps).
So, dynamic compensation is a no-op.
The hard/soft calibration should still be done any time anything near the magnetometer changes and ideally whenever anything metal anywhere on the sub changes.
from subjugator.
Awesome, thanks!
from subjugator.
Related Issues (20)
- Thrusters...? HOT 1
- Kinematic Simulator HOT 1
- ROSify DVL???? HOT 1
- Fix barebones launch file for simulator
- MOTD for basic system check
- Clean up the Torpedo Challenge Code HOT 1
- Sever / Server typo
- Implement Adaptive Controller HOT 5
- Integrate mil_passive_sonar
- Use mil_pneumatic_actuator HOT 1
- Simulate/Fix kinemetics in gazebo
- Model SubjuGator using URDF
- High Level Archecticure Graph
- Kinematic Simulator HOT 1
- Use dynamics model in state estimation
- Basic Move Test
- SIMULATION: simulate state sensors
- SIMULATION: simulate individual thrusters
- HARDWARE: interface for new thruster board HOT 1
- Model SubjuGator's drag
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from subjugator.