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AHRS
*access via sub computer:
navigate to /mrobosub/mrobosub_localization/src
run:
me
roslaunch mrobosub_localization localization.launch
in another terminal:
me
roslaunch sparton_ahrs8_driver ahrs-8.launch
in another terminal: (outputs data)
me
rostopic echo /pose/yaw
to check for ttyUSB0
ls /dev
to sign into sparton, ask katie
Tested the AHRS locally on land and noticed drift.
After calibration, there was only minor drift when the AHRS was stationary, but after moving it gained a drift in the direction it was moved.
tested AHRS to determine how/why the output drifts as the sensor moves:
found that when the AHRS moves on an axis of rotation that is a foot~ish away, the values drift around a speed of 1 degree per second, whereas when the sensor moves on an axis of rotation at the center of the device, the values drift at a much slower speed and tamper off to a consistent value after ~5 seconds.
quick googling found that temperature can affect drifting (link). Personal testing found that when the sensor is heated, the values marginally drift less, but not by a significant amount compared to room temperature.
may also need to reset angles of mounting (link)
glacier navigation study using AHRS: link
one article said that accelerometers and gyroscopes were too variable, so they used AHRS to minimize drifting, which is ironic given our issue: link
tried to recalibrate sensor using these posts from the sparton website:
link 1
link 2
began reading entire set-up guide, left off at page six