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Heave data out to signalk
#2
pypilot currently converts as seen in signalk.py:
'imu': {('navigation.headingMagnetic', radians): 'heading_lowpass',
('navigation.attitude', radians): {'pitch': 'pitch', 'roll': 'roll', 'yaw': 'heading_lowpass'},
('navigation.rateOfTurn', radians): 'headingrate_lowpass'},

There is no computation of heave and no translation of it. Internally pypilot computes heel, but not heave surge or sway, though the imu.accel_residuals term has these it may have to be rotated by the fusion pose, otherwise the terms will change if the pilot is remounted and realigned. I am not sure in what units the heave is needed, these are in "G" or gravity.
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Messages In This Thread
Heave data out to signalk - by Sparhawk76 - 2023-04-16, 06:15 PM
RE: Heave data out to signalk - by seandepagnier - 2023-04-17, 03:07 PM
RE: Heave data out to signalk - by Sparhawk76 - 2023-04-17, 07:18 PM
RE: Heave data out to signalk - by mgrouch - 2023-04-18, 02:30 AM
RE: Heave data out to signalk - by Sparhawk76 - 2024-02-13, 07:30 PM
RE: Heave data out to signalk - by seandepagnier - 2023-04-17, 09:20 PM

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