Test #62 - oneway command fixed - DAT no longer logs azimuth if vector magnitude isn't good (bug fixed) - Homing goal of 50% hits - Drive outside of 1km and launch - Transit vehicle to 36.8275, -121.8267 - run dat_on.xml and verify DAT data to shore Homing: - query dock for heading with the modem command: "compass". Clear the output by typing ctrl-d. - Record dock location in template below! - line up vehicle "downwind" of dock (i.e. if compass reports 180, drive vehicle 360 degrees into dock) - run homing_altitude with no final approach *** Record dock location and heading at the beginning of each homing run. Location is shown at this website: http://share.findmespot.com/shared/faces/viewspots.jsp?glId=0phAUHyXKzGp4mZzmqtTZSo2k6N6JcUyv Record video from: rtsp://134.89.12.186/stream1 onboard DAT @rotation value == 281.0 At night: run boxWaypoints with a high loop count DOCK LOCATIONS AND RUN INFO: Run #1: HDG: 50 LOC: 36.82309 , -121.8277 Log: 20120221T213453 Rot offset: 0.0 Min Range: 80m?? - vehicle was way overdue. Oneway appears to be working though Run #2: HDG: 67 LOC: 36.82307 , -121.82773 Log: 20120221T223420 Rot offset: 0.0 Min Range: 2.5m - ~40 second delay at start of oneway command. One-way started right before it got to the dock, so the delay disrupted the homing. Run #3: HDG: 86 LOC: 36.82307 , -121.82773 Log: 20120221T231436 Rot offset: 0.0 Min Range: ??? oneway stopped at 100m (1) Run #4: HDG: 100 LOC: Log: 20120221T235028 Rot offset: 0.0 Min Range: 2.7m - no oneway Starting from about 300m away, the filtered Earth-fixed transponder locations walk about 20m cross-track, and also 20m along-track towards the vehicle. This is about 9.5%DT. The nav error reported by the vehicle was 4.3%DT for this homing leg. The vehicle missed to the right of the dock again, although from the vehicle's perspective the dock was walking in from the right. Missed 1.7m right, .7m high (vehicle above dock, according to the DAT elevation measurement). Altitude=11.5m Filtered horiz miss dist .8 m DAT azimuth error ~ 3 deg until 100m, then drops and climbs to 8. (2)Run #5: HDG: 110 LOC: 36.82307 , -121.82773 Log: 20120222T010541 Rot offset: 0.0 Min Range: - no oneway This run also includes the following nav box that night. Not viewed yet; the file is too big. Missed 2.2m right about 1 m high. Filtered horiz miss distance .6 m. Nav error 4.7%DT, DAT error 6.4%DT. Filtered locations walked in from the right and ahead, as usual. *** WED *** (3) Run #6: HDG: 250 LOC: 36.82322 , -121.82777 Log: 20120222T181422 Rot offset: 0.0 Min Range: 7 m; missed 1.9m right and 6.8m above (the vehicle went above the dock). no oneway The vehicle apparently was too close; about 175 m; it couldn't get down in time. The filtered locations walked in from the right as usual; approx 2m travel across track, and 3.5 m along track, moving away from the vehicle (DAT under-reporting range?), starting from 35 m range. Thus the DAT error is 11%DT; the nav error appears to be about 3.5 %DT. DAT azimuth error 1-3 deg. There is about 2/3 meter offset between the Neil Brown and the Keller. Run#7 Log: 20120222T192942 One-way on at 300 m. It apparently cut out again. *(4) Run#8 HDG: LOC: Log:20120222T210305 Min Range: 2m One-way on; it worked all the way in; started ~50 meters out. Starting from 50 m out; ~3m of cross-track travel; ~4m of along-track, so ~10%DT. Nav reported 10%DT. Would have docked, but missed ~1.5m high, and slightly to the right. DAT az error ~3 deg until 50m, then jumps up and climbs to ~10 deg. Filtered horiz miss dist .8 m. *?(5)Run #9: HDG: 20 LOC: 36.823,-121.8278 Log: 20120222T221245 Rot offset: 0.0 Min Range: 2.69m - no oneway Missed ~1m high again. The vehicle passes to the left of the last filtered location, opposite of the trend, yet still passes to the right of the last few DAT hits. DAT 6.5%DT mostly along-track, walking in towards the vehicle. Nav was 7.4% on the homing run, then 6.9% on the return leg. DAT Azimuth error ~ 1-2 degrees. Filtered horizontal miss distance .5 m Run #10: HDG: 20 LOC: 36.823,-121.8278 Log: 20120222T230112 Rot offset: 0.0 Min Range: 5.7m - no oneway No homing - DAT not working somehow?