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Changes

UI

Transmitting data to dashboard

The user feedback in the UI has been drastically revised and improved. Depending on the communication status, these are displayed correctly in the UI. Connection errors, transmission errors, data format errors, etc.

There is no separate menu option to send audio sensor data. Instead, this is sent automatically when sensor data is sent. These can be used in the dashboard.

Design

Some icons were changed and/or recolored.

Websocket communication

Due to a new server, the web socket communication had to be adapted. Many types were defined and grouped more precisely. The following page provides a better overview.

Sensors

Dataloop Packet Loss

Due to an error in the sequence of the Dataloop routine, fewer data packets were often sent per cycle. This has been improved.

Attitude Sensor

The attitude sensor now operates with a new algorithm. The roll, pitch, and yaw values are still converted into Euler angles. The data is transformed into a rotation matrix, from which the Euler angles are extracted using a specific formula. Additionally, a new feature allows the clock to be aligned to 0, 0, 0 angles, addressing occasional unwanted 90-degree shifts in the Z direction.

Timestamps

The local clock time is often inaccurate, causing data packets to receive incorrect timestamps. To address this, the server periodically sends its current time, allowing the clock to synchronize and timestamp data packets correctly.

Future Developments

Sensor

Due to time constraints, it was not possible to make a few changes that would have been important. The attitude sensor has a slight drift, an algorithm that counteracts this would be good. This is not very noticeable for short transmissions, but unfortunately it is for longer ones.

Packet Loss

Packet losses persist at 20 and 50 Hertz despite routine adjustments. While the implemented fix has significantly improved performance, occasional losses still occur—typically one or two packets at 20 Hertz and four to six at 50 Hertz. It would be important to look at it again and improve it.

Design

A few UI design changes could also be made to provide the user with a better user experience. Some design SVGs could be adapted in this documentation.