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\input{../common_latex_packages}
\input{../common_latex_definitions}
\input{../common_latex_memo_format}
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\begin{document}

\begin{labcover}
\labtitle{Instructions to Calibrate the OS5000 Compass}
\vspace{0.1in}
\labdate{Summer 2018}
\vspace{0.1in}
\labauth{Joe Doyle}
\labauth{Maintained by: Paul Robinette paulrobi@mit.edu}
\labauth{Department of Mechanical Engineering, CSAIL}
\labauth{MIT, Cambridge MA 02139}
%\labtoc{small}
\end{labcover}

\wikidoc{file=Memo.MokaiCompass}
\wikidoc{auth=paulrobi@mit.edu}

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\section{Compass Calibration}
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All information taken from OS5000 Compass Manual located at:

\noindent
\urlx{http://www.ocean-server.com/download/OS5000_Compass_Manual.pdf}

\vspace{0.1in}
\noindent
Here are the steps:

\begin{packed_itemize}

\item Open a shell on the Pablo (or laptop) with connected OS5000.

\item The compass should be located at \var{/dev/OS5000} otherwise
  check the plug file.

\item Open a connection to the compass using screen with the command:

\begin{consoleverb}
$ screen /dev/OS5000 19200
\end{consoleverb}

\item View pitch and roll to verify level by entering: \var{&lt;esc&gt;-X}
  then \var{'6'} and enter when prompted. Verify pitch and roll are
  within one degree of level. Physically level platform.

\item Enter hard iron calibration mode by entering:
  \var{&lt;esc&gt;-C}. Keep platform level while rotating slowly at least
  once for at least 20 seconds. When the output reports \var{"XxYy"}
  it is finding new calibration data. Keep rotation until you see only
  \var{"...''}  output.

\item After calibration is complete, reset compass output to heading
  by entering \var{&lt;esc&gt;-X} then \var{'1'} and enter when
  prompted. Verify heading output.

\end{packed_itemize}

\noindent
Calibration should be complete!

\vspace{0.1in}
\noindent
Useful info on output data field selection: After entering the output
data field selection command \var{&lt;esc&gt;-X}. Enter Fields to Display,
bit mask of 5 bits (entered in decimal). 31=all active. Sum up the
values, Azimuth=1, Pitch=2, Roll=4, Temp=8, depth=16.


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