| Description | Tracks accelerometer and gyroscope data on CAN Bus |
|---|---|
| Target release | |
| Epic | ELEC-170 - Getting issue details... STATUS |
| Document owner | |
| Project leads | |
| Team members |
Goals
- Log 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
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 such as humidity or temperature, 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 |
|---|---|---|---|---|
| 1 | Records motion data | Mechanical 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 | Logging | We need to be able to store the data somewhere so it can be processed. | Must Have | We should consider how to log the data without flooding the CAN bus or XBee. |
| 3 | Post-processing | It would probably be nice to be able to visualize and use the data that we've collected. | Nice to have | This may be offloaded to Mechanical. |
| 4 | Multiple sensor boards | It might be nice to support multiple sensor boards so we can get a better idea of how our car works. | Nice to have |