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| Description | Tracks accelerometer and gyroscope data on CAN Bus | ||||||||||
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Goals
- Relays raw accelerometer and gyroscope data to controller board on CAN Bus
- Keep track of angular velocity while steering curves
- Keep track of pitch while accelerating and while climbing slopesLog acceleration and angular velocity of the car
- Support timestamped data so it can be correlated with GPS, power data, pedal, steering, etc.
- Locate the sensor as close to the center of gravity of the car as possible
Background and strategic fit
The sensor board is used to obtain data and diagnostics of the motion of the car (i.e. pitch, yaw, roll). Mechanical has requested an IMU to correlate their models for vehicle dynamics with real data. This sensor should be located near the center of gravity of the car. Specific requirements are listed in the main ticket.
Additional features of the board are to be decided, based on what other metrics or data, such as humidity or temperature, is useful to have in the car. The sensors board will be connected to the main CAN Bus. Using a LIN Bus for local connections to multiple sensor boards should be evaluated.
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are yet to be decided.
Assumptions
- The data does not need to be broadcast in realtime
- The data can be processed offline
- We do not need to sample very quickly (~5Hz)
Requirements
# | Title | User Story | Importance | Notes | |
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| 1 | Records motion data | Measures inertial data using an Inertial Measurement UnitMechanical would like to verify their vehicle dynamics models against our motion data. | Must Have | Mostly accelerometer, gyroscope, magnetometer for angular velocity and pitch/yaw/roll. Data must be timestamped. | |
| 2 | Transmits motion data as slave to CAN MasterLogging | We need to be able to store the data somewhere so it can be processed. | Must Have | We should consider how | |
| 3 | Transmits motion data among sensors using LIN | Medium/LowPost-processing |