search

bluerobotics / companion

Companion computer startup scripts and examples
https://www.ardusub.com/operators-manual/companion-web.html
GNU General Public License v3.0
48 stars 54 forks source link

Create DVL service #355

Closed Williangalvani closed 2 years ago

Williangalvani commented 4 years ago

This work has been pushed to it's own branch. This Draft PR will stay here for now as there are important instructions to follow.

image

TO-DO:

to test, set the DVL ip address to 192.168.2.95, open a terminal in companion and do:

Ardusub code is currently in this branch (which needs some cleaning too) and a binary is available ~here~ ~here~ merged to master.

suggested Parameters:

Use mavlink2!

SERIAL0_PROTOCOL 2

Enable odom Use ekf3 for the odometry support

AHRS_EKF_TYPE 3
EK2_ENABLE 0

Enable odometry support

EK3_ENABLE 1
VISO_TYPE 1

Disable external gps in ekf3

EK3_GPS_TYPE 3

Suggested gains

PSC_POSXY_P 2.5
PSC_POSZ_P  1.0
PSC_VELXY_D 0.8
PSC_VELXY_I 0.5
PSC_VELXY_P 5.0
PSC_VELZ_P  5.0
arendeutsch commented 3 years ago

Is it possible to enable the dvl without using the web interface. I'd like to enable it via a python script

Williangalvani commented 3 years ago

Is it possible to enable the dvl without using the web interface. I'd like to enable it via a python script

to enable: GET /api/waterlinked-dvl/enable/true to disable: GET /api/waterlinked-dvl/enable/false

arendeutsch commented 3 years ago

Thanks you very much. I will test it today.

Just for reference, where would be the best place to share our experiences with dvl and waypoints testing/development and ask questions ?

I'm from Mørenot robotics in Norway

wlkh commented 3 years ago

My latest changes contains fixes to ensure TCP connection stability as well as setting the confidence in a more refined way. Our testing shows that TCP disconnection is reliably detected and reconnected when available. I don't have anything to be added or fixed before this can be merged.

Williangalvani commented 3 years ago

My latest changes contains fixes to ensure TCP connection stability as well as setting the confidence in a more refined way. Our testing shows that TCP disconnection is reliably detected and reconnected when available. I don't have anything to be added or fixed before this can be merged.

This PR was actually pushed into it's own branch in Companion. I will likely close this PR to avoid confusion.

These are the new steps to use the DVL code: