2022-09-20, 08:36 AM
(This post was last modified: 2022-09-20, 08:41 AM by seandepagnier.)
1) yes: the icm20948 is a good sensor
2) I do not use optocoupler for the inertial sensors, I use the opto coupler for the uart connection to motor controller
3) you can generally connect gps whichever way is most convenient for you. If it connects to opencpn computer it can forward the gps nmea sentences (along with APB messages for route following) with a tcp connection on port 2022. If tinypilot detects and connects to signalk somehow, pypilot can get gps from that. If gps is connected to tinypilot, generally gpsd will handle the gps and use sirf binary format, and tinypilot will output gps on signalk if it can, or you can make a connection in opencpn to gpsd of the tinypilot 2947. If tinypilot receives gps over serial (non-binary) with gpsd disabled usually manually but anyway... then it will forward nmea over tcp.
In latest unstable, pypilot can generate gps output at 10hz blending the gps with inertial sensors and output is sent as nmea or signalk giving smooth speedometer etc.. but its still in testing and uses an extra 10-15% cpu on the zero (kalman filter implemented in python...)
2) I do not use optocoupler for the inertial sensors, I use the opto coupler for the uart connection to motor controller
3) you can generally connect gps whichever way is most convenient for you. If it connects to opencpn computer it can forward the gps nmea sentences (along with APB messages for route following) with a tcp connection on port 2022. If tinypilot detects and connects to signalk somehow, pypilot can get gps from that. If gps is connected to tinypilot, generally gpsd will handle the gps and use sirf binary format, and tinypilot will output gps on signalk if it can, or you can make a connection in opencpn to gpsd of the tinypilot 2947. If tinypilot receives gps over serial (non-binary) with gpsd disabled usually manually but anyway... then it will forward nmea over tcp.
In latest unstable, pypilot can generate gps output at 10hz blending the gps with inertial sensors and output is sent as nmea or signalk giving smooth speedometer etc.. but its still in testing and uses an extra 10-15% cpu on the zero (kalman filter implemented in python...)