Checklists

Water test check list:

To do before the test:

• Charge batteries:
  • power bank (for the pi)
  • 4 AA for the servos
  • 8 AA for the remote control
  • laptops (Tabarly)
• Write launch file for the day
• Check weather forecast (and tide)

To do just before leaving for the test location:

• Git pull on Tabarly
• Power up the raspberry pi, ssh to it
• Send the last version of the code to the pi (with push2pi.sh script in /piaccess)
• Try Xsens calibration (with mt and piaccess script)
• Decide which set of sails to bring (adapt the launch file accordingly)
• Test connectivity of i2c devices (with i2cdetect -y 1)
• Test servos end stop with test-calibration.launch launch file

Optional:

• Check wind sensor output
• Check Xsens reading
• Check GPS fix

To bring:

• Water for operators
• A towel to dry the boat
• boat keel
• Remote control (with its AA batteries)
• Tabarly
• Wifi extender
• Boat stand (chair)
• Spare parts:
  • GPS
  • wifi dongle
  • wires
  • wind sensor
• Water proofing material:
  • tampons
  • tape
  • silicone
• Cable ties
• Toolbox
• Bumblebee tape
• A print version of the wiki (especially for wiring)
• set of sails
• Batteries
• rubber bands (for wind vane)
• pen
• print of the test location wiki page (map+waypoints)
• this checklist
• Chest waiders
• Business cards

To do at the test location:

• Connect the mast/windsensor wire
• Connect the pi to the battery and try to ssh to it
• Calibrate and check the Xsens IMU (without the mast on)
• Assemble the mast and sails
• Calibrate wind sensor
• Check remote control and servo wiggle with test-calibration.launch launch file
• Check launch file for the day (check parameter file used as well)
• Check if a GPS fix can be obtained (with rostopic echo /position for example)
• Once we have a GPS fix, set the time on the raspberry pi with the script: utilities/setclock
• Waterproof the boat: both the servo control hatch and the raspberry pi one
• Run the launch file in a screen before putting the boat in the water
• If all the previous steps were a success you can put the boat in the water \o/ (and monitor with the dashboard and/or piaccess/live-2D-plot.sh)

To do after a test

• Commit any changes that have been made on the raspberry pi
• Commit any changes that have been made on tabarly (don't forget notes in recorded_data/notes)
• Run pullfrompi.sh on tabarly
• Get bag and log files from the raspberry pi onto tabarly and run syncthing
• Investigate what went wrong
• Write a blog post about the sailing day ;)