0.1.5 • Published 1 year ago

signalk-hwt901b-imu-plus v0.1.5

Weekly downloads
-
License
Apache-2.0
Repository
github
Last release
1 year ago

New version with added features of the great plugin W-Geronius/signalk-hwt901b-imu (https://github.com/W-Geronius/signalk-hwt901b-imu)

Original documentation (will be update)

======

SignalK node server plugin (BETA) reading roll, pitch and magnetic heading from WITMOTION's HWT910B sensor

INPUT:

as of device data sheet and own testing, cable plug respresenting the boat's stern:
0x55 0x53 PitchL PitchH RollL RollH YawL YawH VL VH SUM

CALCULATION:

  • Pitch (x axis):
    ((PitchH<<8)|PitchL)/32768*180(°)
  • Roll (y axis):
    ((RollH<<8)|RollL)/32768*180(°)
  • Yaw (z axis):
    ((YawH<<8)|YawL)/32768*180(°)
  • Version:
    (VH<<8)|VL
  • Checksum:
    SUM=0x55+0x53+RollH+RollL+PitchH+PitchL+YawH+YawL+VH+VL (least significant byte must match SUM)
  • Magnetic Heading:
    z axis value (yaw) plus an offset determined after calibration and install

PROCESSING:

  • Gyroscope has to be calibrated by wit motion windows software prior to final placement onboard
  • acceleration calibration, as well as levelling pitch & roll can be accomplished via the plugin's settings:

image

OUTPUT TO SIGNALK (in rad):

{"updates":[{"$source":"WIT.n",
             "values":
               [{"path": "navigation.headingMagnetic",
                         "value":123.456},
                {"path": "navigation.attitude",
                         "value":{"roll":0.123456,
                         "pitch":-0.123456,
                         "yaw":null}}
                ]
            }]
}
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