2017-06-29, 08:26 PM
(2017-06-29, 06:43 PM)Sailoog Wrote: We need also at least RTIMULibDemoGL and RTIMULibCal to calibrate. How do you calibrate?
RTIMULib2 is no longer maintained by his developer.
The calibration programs in rtimulib are garbage. They are not accurate and not robust. Even the gyro bias estimation was not very good. For boats we can just lowpass the gyros over a few minutes to get the bias. Even better would be a kalman filter with gyro bias states, but this has other implications.
pypilot automatically recalibrates all the time, and the calibration is written in python. See:
https://github.com/pypilot/pypilot/blob/...ion_fit.py
I have already developed 3d viewers for calibration and viewing inertial sensor (3d model of boat) all in python.
As far as making the rtimulib demos work. It got broken when I added additional filters and sensors. Basically the makefiles just need a few sources added and they will work fine. I didn't bother because it would be nice to fix the build system in this project, it's currently difficult to maintain.
Anyway, I tried openplotter yesterday. It is very interesting and I would like to collaborate to make pypilot an optional component in openplotter. Right now we have a problem with two competing signalk servers, and my implementation is probably nonstandard (the standard keeps changing)
I think openplotter can easily negotiate this situation with a little bit of logic. pypilot must be the program which reads from the sensors. Your server could then connect to the pypilot signalk server to obtain the heading, heel pitch etc in this case. I don't think it would be too bad this way.
Another thing to consider is to simply develop my python implementation of signalk since it's going to be a lot more efficient and easier to develop than what exists written in javascript. I already have all kinds of tools developed for it that don't exist for the other signalk stuff, and it's much more efficient.
Today I finished reprogramming brushless drone speed controllers to drive brushed motors
