Track LoCARB

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Select route and click on a marker for boat statistics

 

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. Because the power module doesn’t read voltage correctly when the solar panel is charging the battery and under load, during the day multiply the voltage by 1.152 to get the correct voltage (the voltage in parenthesis).
State of Charge Voltage under Load
90% 12.55v
80% 12.50v
70% 12.37v
60% 12.24v
50% 12.11v

 

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, motor, 12v battery, and is fully submersed in water.
Motor/Bat Pod Humidity DHT22 Humidity reading taken from within the Motor/Battery pod. anything higher than 1% means water is now in the Pod. Pod contains sensors, motor, 12v battery, and is fully submersed in water.
Motor Temp DS18B20 measurement of the magnetic coupling motor compartment. Ambient temperature reading, so motor temperature should be slightly higher.
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 = PWM frequency of 1350us
2 = PWM frequency of 1500us
3 = PWM frequency of 1650us
4 = PWM frequency of 2000us

PWM frequency which controls the electronic speed controller throttle. Higher the number, the faster the motor is told to spin.

# of Mag Decouplings How many times the motor-side magnetic coupling has decoupled from the propeller-side coupling. This can occur if there is too much sudden force resisting against the propeller. On the first launch, a jellyfish caused a decoupling event, which I mistakenly assumed was physical damage.
# of Motor resets Motor monitoring function watches for any RPM under 50. If detected, attempts to restart motor. Each attempt increments a counter with every third attempt cycling power to the motor and ESC.
# of Capsizes SW520D Angle sensor detects tilt greater than ~60 degrees or VERY large collisions. 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.