I'm into so many things that I don't know when I'll have one of the projects finished.
Im trying to develop a new ROV design, not based on the fluid friendly idea, but on the 6 DOF manouverability and vision angles improvement, togheder with deeper range.
At the same time, working on the laser telemetry concept (developing on C++)
I want to develop a C++ library for OpenROV autopilot and navigation.
Can OpenROV easily handle C++ libraries ?
Could standarized NMEA 0183/2000 protocol be useful for OpenROV project ?
We've found that providing a NMEA in/out link in our models (I mainly work on mathematical models) results very useful as it allows for real world navigation equipments data sharing.(RADAR, AIS, ECDIS). Hence real navigation equipments can be used by the system.
When I saw your surface wifi data link unit at Tahoe lake, I directly thought on providing a real Marine systems link (UHF/VHF). It would even be possible to use real DSC Radio Beacoms for ROV location into real VTS equipments for A1 navigation area.
This is a typical Beacom received data stream NMEA formated ITU compliant.
Location, identification and weather datas are packed into the stream.
This could be a typical ROV transmision(answer)
Identification/Navigation status/SOG/Location/COG/True heading and working channel packed inside the chain.
Both include transmision errors controls. And repetition request.
The test shown in the video is perfomed by one approach to the ROV autopilot I have under work.
The main improvement to the standard PID is the 3D ROT (2D in this approach) change with respect to time, d(ROT)/d(t) calculation, and the future turn calculation that allows for inertia compensation.
I know inerta effects in a little device are almost negligible, but general solutions are always more useful than particular ones.