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v1.0.0: Initial Release
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@MB3hel MB3hel released this 11 Jun 05:01
· 236 commits to main since this release
v1.0.0
2ec2234

Initial feature-complete, probably stable release.

  • Motion modeling using DoF matrix and relative DoF compensation
  • Five modes of operation
    • RAW: Speeds set directly for each thruster
    • LOCAL: Speeds are in vehicle DoFs
    • GLOBAL: Speeds are partially in world DoFs
    • SASSIST: GLOBAL mode for translation, but uses PID for depth and orientation
    • DHOLD: GLOBAL mode, but uses a PID for depth hold
  • Sensors supported
    • Onboard BNO055 IMU
    • External MS5837 depth sensor
  • Interface scripts
    • Python code to interface with control board provided. Includes many example scripts

Simulator: https://github.com/MB3hel/GodotAUVSim

Documentation: https://mb3hel.github.io/AUVControlBoard/

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