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Sensor Baud Rates and Outputs
gps: 19200
$GPRMC,094409.0,V,0117.98039,N,10346.55663,E,,,230913,000.2,E*78
$GPGGA,094409.0,0117.98039,N,10346.55663,E,0,00,,,M,,M,,*4C
etc.
compass: 19200
$C161.6P1.9R0.5T34.5*2A
$C161.6P1.9R0.3T34.5*2C
$C161.6P1.9R0.2T34.5*2D
IMU: 38400
Kayak Control Board: 19200
$KASSR,0000,0000,0000*74
$KASDR,03,00*4C
$KASVR,9664,11666,15940,19,21,2998,-32766*69
DVL: 9600
:SA, +0.00, +0.00, 0.00
:TS,11111216054664,35.0, +24.1, 0.0,1532.1, 0
:BI,-32768,-32768,-32768,-32768,V
:BS,-32768,-32768,-32768,V
:BE,-32768,-32768,-32768,V
:BD, +0.00, +0.00, +0.00, 0.00,9739.82
To Set Serial Ports:
The kayak has an annoying tendency to reset the serial port assignments, leading to bad data. The port assignments can be set by using:
nano kayak_new.moos
Then, find the device that is not giving the correct values and check which port it is assigned to (ex: ttyUSB0). The port assignment can then be changed, with careful attention needed to ensure proper baud rate.
The output from a port can also be viewed in the terminal using:
cat /dev/ttyUSB#
ex:
cat /dev/ttyUSB5
The format of the output for the different sensors is given above. The baud rate can be changed from the command line using:
stty -F /dev/ttyUSB# (baud rate)
ex:
stty -F /dev/ttyUSB1 19200
Other details
The new_kayak.moos file includes the processes that are executed when the pAntler kayak2.moos command is run. As of January 2012, this file includes commands to collect data in the background from GPS, compass, DVL, and imu. If other processes are to be run in the background, they must be added to the new_kayak.moos file.