Week four is upon us, more stuff has been done, more stuff to be done. Finished the 2D correction algorithm in MATLAB, more about that here.

Worked on:

• 2D Correction algorithm in MATLAB, works like a charm
• Parameter estimator is very fast locally, will be porting to Octave to test execution speed on the BeagleBone
• Parameter estimation on simulated data yields less than 1% error on all deformations except rotation (rotation is variable in error, but less than 2%)

Issues:

• Research was helpful, but the algorithm part could have been a bit more elaborate
• Octave was super uncooperative with the symbolic toolbox, have to look i into that and move the MATLAB code to Octave (go team open-source!)
• Sensor testing complexity still unknown (last week’s issue), will be testing in the coming weeks

To be worked on:

• Expanding the 2D correction algorithm to a 3-axis one
• Adding time-variant error compensation using telemetry and additional inputs
• Currently using SPIDEV for the data readouts, transfer to proper drivers later in the project