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uscauv-legacy / old-uscauv-ros-pkg

ROS software used on robots made by the USC AUV Team.
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XKF Valid Bit from MTi #13

Open canondetortugas opened 11 years ago

canondetortugas commented 11 years ago

See here. The cause of the problem in the MTi milestone might be the gyroscopes in the device going out of range. We should modify the driver such that we can see the status of the device's XKF bit, which should go to 0 if the gyros go out of range. Also, we should figure out what the range of the gyros on the MTi we own are.

canondetortugas commented 11 years ago

This bit is part of the status byte in the MTData message. See page 30 of the MTi low-level communications protocol manual for MTData and page 33 for the status byte.

canondetortugas commented 11 years ago

We can get this data using the getStatus, containsStatus, and updateStatus functions of the xsens::Packet class in cmtpacket.h.

canondetortugas commented 11 years ago

Trivial to expand the updateData function in our XsensDriver class to support this.