We designed a control board which includes MPU9250 sensor. We are reading the values from the sensor. We need an algorithm which converts the values to Euler angles using some sensor fusion algorithm.
Additionally my boat (a model) will be controlled with PID. It will fallows way points given. Way points will be stored flash memory of the card. The card is ready and working well. Reads raw IMU values and CORS GPS locations. The cards transmits the values to my computer and I can read and save them.
The card has: DSPIC33FJ128GP804-I/PT Mikrochip. We use for code: MPLAB X IDE v3.10. Drivers is already written and our firmware reads raw values (accel, gyro and magnetometer) from sensor. I need a code which give me stable Euler angles using raw values. The code will be embedded to our code and we will test whether it gives stable angles or not.
My GPS is geodetic GPS. working with CORS system and the accuracy about below 7-8 cm level. As you know there is magnetometer on the board. It can help for more accurate heading.
The size of the boat is 1250x650x180 mm. Weight is changing between 12-21kg depending on payload and battery .
The system will be water jet and its rudder and it will be one motor. It can be found the water jet system here: http://hobbyking.com/hobbyking/store/__13388__CNC_Precision_Jet_Boat_Drive_X_Large.html. The water is usually smooth, some small waves because of the boat, but there might be wind.
The work schedule is as fallows:
1- The code is developed related with accel, gyro and magnetometer for solid Euler angles.
2- The code is embedded our main code.
3- Send the code to us to test.
4-we will test the code in our card. We give feedback if there are errors on card. if need we can prepare a video for test and send.
5- if we get error go back to step 1, otherwise the code is completed.
6- Then the other code is developed for steering and speed with PIDs.
7- The code is embedded our main code.
8- Send the code to us to test.
9-we will test the code in our card the pond using our vessel. We give feedback if there are errors on card. if need we can prepare a video for test and send.
10- if we get error go back to step 6, otherwise the job is completed.
17 freelance ont fait une offre moyenne de 494 $ pour ce travail
hi sir i am an expert electrical engineer i can do it for you i have almost 7 years if experience in this field i assure you quality work and ontime delivery please have a look at my profile regards
Hi. I am a professional Electronics Engineer having expertise in 6 DOF motions equations and sensor interfacing. Contact me and start this project.