Track LoCARB

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Select route and click on a marker for boat statistics

 

View Captain’s Log

Value

Description

Distance from launch How far LoCARB has traveled from the launch site in nautical miles.
Distance since last How far LoCARB has traveled since the previous update in nautical miles.
Total distance traveled The total nautical mileage LoCARB has traveled since launch.
Heading Current heading in compass units (0-360, 0=north) provided by the Pixhawk
Batt Voltage Battery voltage as measured by the analog power module. Sorta kinda accurate.

 

State of Charge Voltage under Load
100% ~16.68v
75% ~15.36v
50% ~13.92v
25% ~12.48v
20% ~11.04v
Current Consumption Battery current consumption as measured by the analog power module (sorta accurate)
Brain Box Temp DHT22 Temp reading taken from within the electronics enclosure. Houses Arduino, Arduino watchdog, Autopilot, Satellite modem, 2 channel relay, Breakout circuit board, and voltage regulator
Brain Box Humidity DHT22 Humidity reading taken from within the electronics enclosure. Houses Arduino, Arduino watchdog, Autopilot, Satellite modem, 2 channel relay, Breakout circuit board, and voltage regulator. Humidity in the brain box should gradually reduce after launch since the electronics box is sealed once LoCARB is turned on (allowing the silica gel beads to absorb moisture).
Motor/Bat Pod Temp DHT22 Temp reading taken from within the Motor/Battery pod. Pod contains sensors, ESC, motor, 18650 4S10P 16.8v battery pack, and voltage regulator for the solar panel. It is fully submersed in water.
Motor/Bat Pod Humidity DHT22 Humidity reading taken from within the Motor/Battery pod. Anything higher than ~41% means water is now in the Pod. Pod contains sensors, motor, battery pack, and is fully submersed in water.
Motor Temp DS18B20 measurement next to the motor. Enclosed, but ambient water temperature reading – so motor temperature should be slightly higher than the motor pod temperature.
Rudder Temp DS18B20 measurement of the metal rudder servo case. Sensor affixed with glue.
GPS Lock 0 = No GPS connected
1 = No position information, GPS is connected
2 = 2D position
3 = 3D position
4 = DGPS/SBAS aided 3D position
Current Throttle Setting 1 = RPM target of 1030 (Motor 2: 2500)
2 = RPM target of 1090 (Motor 2: 2650)
3 = RPM target of 1100 (Motor 2: 2800)
4 = RPM target of 1170 (Motor 2: 2900)
5 = RPM target of 1290 (to be used when battery is full -like during initial launch or troubleshooting).
Motor Selection 1: RC Main Motor fully submerged in salt water

 

2: Cheap $50 underwater thruster

# of Motor resets Motor monitoring function watches for any RPM under a certain threshold. If detected, attempts to restart motor. Each attempt increments a counter with every third attempt cycling power to the motor and ESC.
# of Motion events SW520D Angle sensor detects tilt greater than ~60 degrees, full upside-downies, or large collisions/vibrations. Increments counter, resets after reaching 99.
# of times Pixhawk Reset The Arduino collects Mavlink heartbeat messages from the Pixhawk to detect a non-responsive state. If it receives none after 3 collection attempts, the Arduino will power cycle the Pixhawk and rudder servo. Resets after reaching 99.
Leak level in Battery Pod Cheap Ebay liquid level sensor to detect a leak in the motor/battery pod.

 

Value of 0 or 1 (not incredibly reliable, so readings are a little inaccurate) = no leak

A value of 8 is at least 2″ of water in the pod.

Iridium location accurate to within Rockseven gives approximate GPS coordinates and distance accuracy (in km) with their message payload. Only shows up when viewing the ‘LoCARB (using Iridium approximate GPS coords)’ selection. Useful for comparing with LoCARBs much more accurate Pixhawk GPS coordinates. If coordinates are extremely different from the ‘LoCARB’ selection, it may signify a problem.