Current status

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26/06/2015

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Hardware

• Everything works !
  • IMU data
    • Compass
    • Roll
    • Yaw speed (ie compass rotation speed)
  • Vane (wind direction)
  • Filtered GPS position
  • Battery voltage probe
  • Servo control (sail and helm)
• Easy to use interface for retrieving data
  • Unix socket (quick localhost communications)
  • TCP/IP socket to have a deported intelligence/logging system
  • Language independent

Improvements:

• Dirty codebase (mix of C and C++)
• Socket data are not so easy to serialize/deserialize
• The program fails to open PWM device files on first launch since boot
• The IMU mai not be initialized correctly if powered at the same time that the beaglebone (PCB power issue). You may need to unplug and plug it back.

TCP API

• TCP/IP communication, through network or localhost
• Serialize/deserialize hardware datas
• Written in pure C (for language compatibility)

Intelligence

• Written in D, because it's much easier than C++ to write and debug, and because we don't learn enough C++ to be fluent with it. Learning D is really easy if you already know (even barely) the main concepts that are found in C++, like templates, iterators, classes, etc...
• Full of unit tests
  • Travis integration (each time you change the code, unit tests are run on a server)
• Good heading calculation
• Good tacking decisions
• Web interface to monitor hardware and emulate system to test it
• Everything seems to work, except the auto pilot

Improvements:

• Not enough tested on water
• Autopilot issues, must implement a PID controller
• Maybe other issues that need testing to be found
• Advanced filters on angle-value devices (vane, compass, etc...)

Launcher

• Launches Tempest processes
• Re launch them if they crash

Improvements:

• Not maintained
• Not practical for development purpose