M300 Compass Calibration

To be updated Summer 2022.

The calibration process is completed with the vehicle in the water. It is best to complete this in calm water and away from boats and structures.

When to Calibrate?

  • At least once a month
  • Whenever heading values appear incorrect
  • After installing or removing a significant payload

How to Calibrate?

  • Prepare the vehicle for in-water deployment (install battery, verify remote control operation)
  • Gain command-line remote access to the vehicle computer (log in via ssh)
  • Deploy the vehicle under remote control operation
  • Drive to greater than five meters from any object into open, calm water, and where it can operate for several minutes without interruption from traffic
  • From the command line, execute this command: 
    rosrun kingfisher_bringup calibrate_compass
  • The M200 will rotate slowly in place for 60 seconds
  • When complete, calibration data will be saved. Enter the login password when requested in order to save the file.
  • Load the new calibration file by restarting the ROS front seat system: 
    sudo service kingfisher-core restart

Clearpath instructions for M200 compass calibration.