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\begin{labcover}
\labtitle{Instructions to Calibrate the OS5000 Compass}
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\labdate{Summer 2018}
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\labauth{Joe Doyle}
\labauth{Maintained by: Paul Robinette paulrobi@mit.edu}
\labauth{Department of Mechanical Engineering, CSAIL}
\labauth{MIT, Cambridge MA 02139}
\labtoc{small}
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\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: \urlx{http://www.ocean-server.com/download/OS5000_Compass_Manual.pdf}

Open a shell on the Pablo with connected OS5000.

The compass should be located at /dev/OS5000 otherwise check the plug file.

Open a connection to the compass using screen with the command: 'screen /dev/OS5000 19200'.

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

Enter hard iron calibration mode by entering: '$&lt;$esc$&gt;$C'. Keep platform level while rotating slowly at least once for at least 20 seconds. When the output reports â€œXxYyâ€ it is finding new calibration data. Keep rotation until you see only â€œ...â€output.

After calibration is complete, reset compass output to heading by entering '$&lt;$esc$&gt;$X' then '1' and enter when promted. Verify heading output.

Calibration should be complete!


Useful info on output data field selection: After entering the output data field selection command '$&lt;$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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