Last week, we returned from our successful expedition to Denmark. Our crew of five furiously sailed from Gelting Mole through the danish south sea to our small, cozy and beautiful mission area.
We fixed a lot of the MS0x00's codebase and made interesting things work:
- A magnetometer component can now deal with raw data and deliver rather well calibrated compass data
- A tracking component uses GPS and said compass data to actually move the boat in the right direction
- We've written a serial probe utility to find out what device is connected to which serial port (we use lots of them ;)
- The scaffold can finally be initialized from configuration
- The MSP430's firmware runs as expected:
- Turning the pump on and off works (the coolant system, too, we'll measure soon)
- the navigational lights can be turned on and off. Probably dimmable without too much more work.
- Measuring ADC voltage works, but the sensors are not yet connected
- cleaned and simplified RPC base (now as planned, more jsonrpc like ;)
- fixed and cleaned a lot of weird typos/bugs and other lint
Thanks to Martin Ling for many of the above bugfixes and feature submissions!
Sadly our final goal - taking a bathymetry snapshot of the testing area - failed due to an accidentally killed DC-DC regulator :(
And there is still a lot to go! We have a lot more sensors to connect and calibrate, the system as a whole needs improvements and some functional components are outright missing right now. But as you can see, we're advancing at a good pace :)
If you'd like to contribute and help us reach our goal of a reliable, well working robot fleet software system, contact us!