Log WL G2 orientation - Githubissues

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Log WL G2 orientation #13

Open clydemcqueen opened 1 month ago

clydemcqueen commented 1 month ago

Log the orientation of the WL G2 box, and / or raw IMU data.

Step 1: contact WL to see if this is possible.

clydemcqueen commented 4 weeks ago

Ticket submitted, waiting for a reply.

clydemcqueen commented 4 weeks ago

Scott McLay from WL reports that this API should do the trick: https://demo.waterlinked.com/swagger/#/imu/imu%23Get

Next steps:

Try this on the G2 box. @zhrandell can you bring a G2 box to lab day next week?
Make a plan to log this data (maybe the wl_ugps_external_extension?)

zhrandell commented 4 weeks ago

Great news! Yes, I can bring a G2 box to the lab day. In fact, I will bring both G2 boxes. They both are sorely due for a software update, which has historically taken several hours (??). So, once you've finished interfacing via the API, we can start the update process.

We can also have Nereo with us on lab day to enable any relevant EM testing (and we also need to update the DVL software!).

clydemcqueen commented 2 weeks ago

I tried this on the G2 box, and it works.

Next challenge is to log it.

clydemcqueen commented 1 week ago

I updated wl_ugps_external_extension to log the G2 orientation (roll, pitch, yaw) at ~5Hz. See the PR for details.

This won't be useful for feeding raw IMU data into a photogrammetry package, but I think logging this & the sat compass orientation will give us some information about data quality, lag, and particularly whether the G2 box is shifting during a dive.