2020-09-08 09-19-55.tlog (396.8 KB)
Sorry, due to bad weather I was not able to take the sub to the sea and give you real life logs.
The attached log is from a test done in the office today, submerged in a tub.
I used Missionplanner as groundcontrol station, this makes it easy to monitor “targetalt”
09.30.35 I send “arm”, “depth mode” and target depth -5 meter
targetdepth ramps down to -1 meter (command was -5 meters)
a few seconds later it ramps back to 0 (this going back to 0 doesn’t happen in a real environment)
09.30.55 I send -5 meter command again
In a real mission the sub responds to commands >1 meter (from current depth) as 1m
Smaller commands work as the should.