I’m measuring the magnetic influence on my sub’s magnetometer while running thrusters underwater (see attached, duty cycle x axis, teslas y axis) and holding the vehicle stantionary. Using I2C comms. I noticed that between -40% and -60% duty cycle, each thruster’s harmonics changed. The magnetometer recorded this period as having a noisy emission. I monitored the output of my script and it’s decrementing correctly from 0 to -32767.
Thruster 1 was the only one to show this behavior (around 50-60% duty cycle) in the forward direction.
Any suggestions as to why this may be happening?
thruster-influence-on-magnetometer (748 KB)