2023-04-17, 03:07 PM
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.
'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.