Upcomming Pooltest

Ok, so long time no post, but I come bearing good news; We're having a pool test!

We've got the Pool Test tentatively planned for Saturday the 14th. The plan is that we are going to throw the AUV in a pool (anyone got a spare??), run a check on the thruster repairs and then get to the real fun of refining our control algorithms.

Our Control Software:
PD controller running on a SunSPOT MCU connected to software linearized ESC controllers controlling brushless thrusters.

Feedback signals are provided by our microstrain Inertial Measurement Unit (IMU)

for those of you who didn't understand a word of that check out wikipedia and wikibooks - they've got some really well layed out explanations there.