With the idea of spurring interest in the development of a software Attitude Heading Reference System for the GTA02, I am going to be giving away twelve (12) Golden Delicious NavBoard V2s to developers that are willing to work on this idea.

I have been frustrated by lack of an available AHRS for Linux-based systems for many years now. The closest thing available is the FoxAHRS:


I believe it runs on the ARM-based G20 board: http://www.acmesystems.it/FOXG20

I might be wrong.... but anyway the idea is to get a working 100% open source AHRS than can run on the GTA02 and GTA04. Ideally it should be entirely self-calibrating (i.e. figure out what's level and calibrate the compass via GPS track by an easy calibration or self-calibration method).

This is what the boards look like:


It has a 3D ITG-3200 Rate Gyro, the HMC 5843 magnetometer and BMP 085 barometric sensor. It's a board you must solder internally to the GTA02.

Anyone that actually ends up contributing to this project will also be given a Navboard V3, which has a better magnetometer, to make sure it works that one as well (I paid good money for the V3 boards so I don't want to give them away to people who may not ever end up installing them).

If anyone that is a serious contributor needs some help, I would be more than willing to help out with stuff like free brand new GTA 02s (850Mhz or 900Mhz, I have both brand new in stock) , new batteries. Serious hackers don't need to worry about damaging their GTA02, I will provide replacement units to anyone who does and is serious about this project.

I also have a early GTA04 fully assembled with new case/screen/battery to give away to a serious contributor who would be willing to ensure that the AHRS code would run properly on this platform as well.

You may reply to me privately or via this list.

Pascal Gosselin

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