2020-05-04, 08:50 AM
(This post was last modified: 2020-05-04, 01:29 PM by CaptDjaahn.)
Hi,
I have a B&G H2000 on my boat, that currently is outputting pre-filtered heading information at 10hz over NMEA. I want to use this heading in the control loops of the PID instead of the yaw and heading from the IMU. (I haven't fitted the IMU).
I have modified the NMEA.py and sensor.py to receives the heading from NMEA, and I have added the calculation of yaw. I need a tip for where in the code it would be wise to:
- set the heading and yaw from NMEA that is normally calculated in boatimu.py to replacing this calculation?
- and where I would easiest deactivate the IMU module from the code?
My signals from the NMEA compass show nicely in the scope as "compas.heading" and "compas.yaw".
I have a B&G H2000 on my boat, that currently is outputting pre-filtered heading information at 10hz over NMEA. I want to use this heading in the control loops of the PID instead of the yaw and heading from the IMU. (I haven't fitted the IMU).
I have modified the NMEA.py and sensor.py to receives the heading from NMEA, and I have added the calculation of yaw. I need a tip for where in the code it would be wise to:
- set the heading and yaw from NMEA that is normally calculated in boatimu.py to replacing this calculation?
- and where I would easiest deactivate the IMU module from the code?
My signals from the NMEA compass show nicely in the scope as "compas.heading" and "compas.yaw".