2021-07-13, 05:11 PM
(This post was last modified: 2021-07-13, 05:12 PM by seandepagnier.)
The delay is not acceptable for an autopilot, especially if you have a pi receiving it since the wifi can have random lags that are significant. A dedicated esp32 to esp32 link may be acceptable, but this has not been proven.
The location of the imu is not as important as you think as for putting in the center of the boat. Obviously putting on top of the mast, or the very end of the boat is not ideal, but the accelerometers most affected by this are the least important sensor.
The most important part is to keep it away from magnetic distortions such as speakers, compass, other magnets, current carrying wires etc. If you are really concerned, it is common to use a pi zero for the imu and autopilot, then the pi with openplotter just gets this data over wifi and there is no problem, and both can be placed more optimally.
The location of the imu is not as important as you think as for putting in the center of the boat. Obviously putting on top of the mast, or the very end of the boat is not ideal, but the accelerometers most affected by this are the least important sensor.
The most important part is to keep it away from magnetic distortions such as speakers, compass, other magnets, current carrying wires etc. If you are really concerned, it is common to use a pi zero for the imu and autopilot, then the pi with openplotter just gets this data over wifi and there is no problem, and both can be placed more optimally.