mlab-upenn · RithwikU · Jun 24, 2022 · Jun 24, 2022 · Jun 24, 2022
diff --git a/build_car/electrical.rst b/build_car/electrical.rst
@@ -1,7 +1,7 @@
 .. _doc_electrical:
 
 
-2. Electrical
+Electrical
 ========================
 
-We continue with setting up the electrical system. There are two parts to the electrical system. The first part is the 48V motor system and the second part is the 24V electronic system.
+We continue with setting up the electrical system. There are two parts to the electrical system. The first part is the 48V motor system and the second part is the 24V electronic system.
diff --git a/build_car/img/dimensions_1.JPG b/build_car/img/dimensions_1.JPG
diff --git a/build_car/img/mech_1.JPG b/build_car/img/mech_1.JPG
diff --git a/build_car/img/mech_2.JPG b/build_car/img/mech_2.JPG
diff --git a/build_car/img/mech_3.JPG b/build_car/img/mech_3.JPG
diff --git a/build_car/mechanical.rst b/build_car/mechanical.rst
@@ -1,7 +1,19 @@
 .. _doc_mechanical:
 
 
-1. Mechanical
+Mechanical
 ========================
 
-We begin with setting up the mechanical system.
+The go-kart chasis used is the `Top Kart MSTEM3 <http://topkartusa.net/electric/>`_ chasis. We followed the build instrcutions listed and assembled the car from the bottom up.
+The videos provided on the website aren't the best and having a person with go-kart building expertise is recommended. Ordering the chasis and parts required ahead of time is suggested as the turn around can delay your timeline.
+
+Here are few progress photos showing how the build started off:
+
+.. figure:: img/mech_1.JPG
+  :align: center
+
+.. figure:: img/mech_2.JPG
+  :align: center
+
+.. figure:: img/mech_3.JPG
+  :align: center
diff --git a/learn/Hardware/GNSS.rst b/learn/Hardware/GNSS.rst
@@ -7,58 +7,69 @@ Global navigation satellite system (GNSS) is the system used for obtaining the c
 The dual antenna setup improves functionality as we also obtain heading (`True North heading <https://airplaneacademy.com/whats-the-difference-between-true-and-magnetic-heading-explained/#:~:text=True%20heading%20is%20your%20direction,being%20hundreds%20of%20miles%20apart.>`_) from the system.
 
 Resources:
-* `Mosaic Hardware Manual <https://www.septentrio.com/system/files/support/mosaic_hardware_manual_v1.5.0.pdf>`_
-* `Mosaic-H reference guide <https://www.septentrio.com/system/files/support/mosaic-h_firmware_v4.9.1_reference_guide.pdf>`_
+    * `Mosaic Hardware Manual <https://www.septentrio.com/system/files/support/mosaic_hardware_manual_v1.5.0.pdf>`_
+    * `Mosaic-H reference guide <https://www.septentrio.com/system/files/support/mosaic-h_firmware_v4.9.1_reference_guide.pdf>`_
+
+
+The Septentrio board has a web poretal to set parameters and visulaize incoming data. This portal also shows current GNSS working with important metrics.
+The figure below shows a screenshot of this portal captured in Purdue. As we can see it shows the current location and heading. Along with that it also shows the number of satellites being tracked, the correction data status, wheter the board is connected to internet, etc.
+One important parameter that helped us with debugging is the antenna RF power and signal strength. Based on these parameters we ordered new :ref:`ref-antenna`.
+
+.. figure:: img/septentrio_portal.png
+  :align: center
+
+
+.. _ref-antenna:
 
 =========================
 Antenna
 =========================
-We used 2 `GNSS Multi-Band L1/L2 Surveying <https://www.sparkfun.com/products/17751>`_ antenna. 
+We used 2 `GNSS Multi-Band L1/L2 Surveying <https://www.sparkfun.com/products/17751>`_ antenna. To get the most accurate heading readings these antennas need to be mounted in the same plane.
 
 =========================
 RTK correction services
 =========================
 
-1. Point One Polaris-
-  * https://pointonenav.com/polaris
-  * https://github.com/PointOneNav/polaris
-
-2. u-blox PointPerfect
-  * SSR, i.e. PPP-RTK
-  * https://portal.thingstream.io/pricing
-  * 3-6 cm, < 30 s
-  * SPARTN format, not supported by Septentrio mosaic-H
-  * Supported natively only by u-blox receivers with an up-to-date firmware (and maybe only on the latest revisions)
-  * https://www.u-blox.com/en/technologies/ppp-rtk-gnss-correction-services-pointperfect
-  * http://rtcm-ntrip.org/home.html
-  * free, but only a few available
-
-3. RTK2GO
-  * http://rtk2go.com/
-  * 'RTK2GO public base stations map <https://www.google.com/maps/d/u/0/edit?mid=1IMrStJfvUROGhlZtQzr1fDgeN-hBom6i&usp=sharing>'_
-  * 'RTK2GO public base stations <https://docs.google.com/spreadsheets/d/19LGGK_gizAD02vjECt7P1b4enX6-dsjAkxU3BNMIU9Q/edit?usp=sharing>'_
-
-4. Skylark
-  * $49 per month per client
-  *  https://www.swiftnav.com/skylark
-  * Coverage in US
-  * RTCM over NTRIP
-
-5. Trimble RTX
-  *  https://positioningservices.trimble.com/services/rtx/
-  * $400 per year
-
-6. RTK service in Indiana
-  * https://incors.in.gov/rtk.aspx
-
-7. KeyNet
-  * RTK service in PA, works in Philly
-  * http://www.keynetgps.com/
-  * $375 for 30 days; $3135 annually
+    1. Point One Polaris-
+        * https://pointonenav.com/polaris
+        * https://github.com/PointOneNav/polaris
+
+    2. u-blox PointPerfect
+        * SSR, i.e. PPP-RTK
+        * https://portal.thingstream.io/pricing
+        * 3-6 cm, < 30 s
+        * SPARTN format, not supported by Septentrio mosaic-H
+        * Supported natively only by u-blox receivers with an up-to-date firmware (and maybe only on the latest revisions)
+        * https://www.u-blox.com/en/technologies/ppp-rtk-gnss-correction-services-pointperfect
+        * http://rtcm-ntrip.org/home.html
+        * free, but only a few available
+
+    3. RTK2GO
+        * http://rtk2go.com/
+        * 'RTK2GO public base stations map <https://www.google.com/maps/d/u/0/edit?mid=1IMrStJfvUROGhlZtQzr1fDgeN-hBom6i&usp=sharing>'_
+        * 'RTK2GO public base stations <https://docs.google.com/spreadsheets/d/19LGGK_gizAD02vjECt7P1b4enX6-dsjAkxU3BNMIU9Q/edit?usp=sharing>'_
+
+    4. Skylark
+        * $49 per month per client
+        *  https://www.swiftnav.com/skylark
+        * Coverage in US
+        * RTCM over NTRIP
+
+    5. Trimble RTX
+        *  https://positioningservices.trimble.com/services/rtx/
+        * $400 per year
+
+    6. RTK service in Indiana
+        * https://incors.in.gov/rtk.aspx
+
+    7. KeyNet
+        * RTK service in PA, works in Philly
+        * http://www.keynetgps.com/
+        * $375 for 30 days; $3135 annually
 
 =========================
 RTK basestation
 =========================
-* https://learn.sparkfun.com/tutorials/how-to-build-a-diy-gnss-reference-station/all
-* https://learn.sparkfun.com/tutorials/setting-up-a-rover-base-rtk-system
-* https://learn.sparkfun.com/tutorials/gps-rtk2-hookup-guide
+    * https://learn.sparkfun.com/tutorials/how-to-build-a-diy-gnss-reference-station/all
+    * https://learn.sparkfun.com/tutorials/setting-up-a-rover-base-rtk-system
+    * https://learn.sparkfun.com/tutorials/gps-rtk2-hookup-guide
diff --git a/learn/Hardware/img/IMG_3115.JPG b/learn/Hardware/img/IMG_3115.JPG
diff --git a/learn/Hardware/img/IMG_3234.JPG b/learn/Hardware/img/IMG_3234.JPG
diff --git a/learn/Hardware/img/IMG_3237.JPG b/learn/Hardware/img/IMG_3237.JPG
diff --git a/learn/Hardware/img/IMG_3238.JPG b/learn/Hardware/img/IMG_3238.JPG
diff --git a/learn/Hardware/img/IMG_3239.JPG b/learn/Hardware/img/IMG_3239.JPG
diff --git a/learn/Hardware/img/IMG_3240.JPG b/learn/Hardware/img/IMG_3240.JPG
diff --git a/learn/Hardware/img/septentrio_portal.png b/learn/Hardware/img/septentrio_portal.png
diff --git a/learn/Software/HighLevel/ekf_bicycle.rst b/learn/Software/HighLevel/ekf_bicycle.rst
@@ -27,13 +27,9 @@ The high level overview of the paper is as follows:
 For a working code implementation refer here: `EKF Bicycle Model Code <https://github.com/mlab-upenn/gokart/tree/ekf-bicycle/src/gokart>`_
 
 STATUS - Tested in
+
 +---------------------+------------------+
 | Tested in Simulation| Tested on Go Kart|
-+=====================+==================+
++---------------------+------------------+
 | YES                 |NO                |
 +---------------------+------------------+
-
-
-STATUS
-[X] - Tested in simulation |check|
-[ ] - Tested on Go Kart |uncheck|