Digital compass acting as B&G Precision 9 based on ESP32 and CMPS14
To have easy access to N2k this board is recommended.
- A highly accurate compass which also reports roll, pitch, rate of turn and possibly heave.
- Be able to use standard config screen in the B&G Zeus/Vulcan/Triton(2) to configure offsets and do calibration.
After trying the MPU9250 first, Iwasn't happy with the noise level. The CMPS14 seems more stable and makes the code way easier.
- Recognised as B&G Precision-9.
- Heading send out as Vessel Heading PGN 127250 as Magnetic at 10Hz.
- Magnetic variation PGN is picked up and then Vessel Heading PGN 127250 is send out as True as well.
- Heel and Trim are send out as Attitude PGN 127257 at 20Hz.
- Rate of turn is send out as PGN 127251 at 10Hz.
- MFD configuration of heading, trim and heel offset.
- Offsets are stored in EEPROM when set.
- Deviation calibration routine. The stop/finsihed signal works, but processing the outcome is still missing. This routine process should build a boat specific deviation table.
- Auto calibration mode is recognised, but not used yet.
- Actual creation of the deviation table, which from what I understand can be done using Fourier transformation on the data from the 390 deg circle.
- Heave isn't measured yet and thus not sent. Also here I think Fourier transformation on Z accellaration data can be used to calculate amplitude.