Implement Control Board Spec

[SarangaR]

Command List

Reference: https://mb3hel.github.io/AUVControlBoard/user_guide/messages/

Motion Commands:

• Raw Speed Set
• Local Speed Set
• Global Speed Set
• Orientation Hold Speed Set (Variant 1)
• Orientation Hold Speed Set (Variant 2)
• Stability Assist Speed Set (Variant 1)
• Stability Assist Speed Set (Variant 2)
• Feed Motor Watchdog

Vehicle Configuration Commands:

• Motor Matrix Set
• Motor Matrix Update
• Thruster PWM Parameter Config
• Thruster Inversion Set
• Relative DoF Speed Set
• PID Tune Command

Sensor Commands

• Sensor Status Query
• IMU Read
• IMU Raw Read
• IMU Periodic Read
• Depth Read
• Depth Periodic Read

BNO055 IMU Configuration Commands:

• BNO055 IMU Axis Configure Command
• Save BNO055 Stored Calibration Command
• Erase BNO055 Stored Calibration Command
• Reset BNO055 Command
• Read BNO055 Stored Calibration Query
• Read BNO055 Live Calibration Status Query
• Read BNO055 Live Calibration Values Query

MS5837 Depth Sensor Configuration

• Read MS5837 Calibration Query
• Write MS5837 Calibration Command

[SarangaR]

Need to check which ones are actually implemented.