Acronyms, Initialisms, and Common Terms - MRoboSub/mrobosub GitHub Wiki

AHRS: Attitude and Heading Reference System
- A gyroscope and magnetometer used to measure the sub's attitude and heading
Base Station
- A laptop connected to the sub which runs GUI applications, teleop, and other misc. human interfaces
- More info
Brain a.k.a. Jetson
- The primary computer in the sub which runs the high level control logic and issues commands to the other computers
DOF: Degree of Freedom
ESC: Electronic Speed Controller
- Used on the sub to convert PWM signals sent by the FCU to 3-phase AC current to control the motors
FCU: Flight Control Unit (Flight Controller)
- Takes input of desired velocity and converts it to motor outputs
- See Thruster Mixing and Thruster Controller Board
GNC: Guidance Navigation and Control
HAL: Hardware Abstraction Layer
- The software which binds low level control to higher level APIs
ROS: Robot Operating System
TDR: Technical Design Report
IMU: Inertial Measurement Unit
- Measures our current linear acceleration (in x, y, z directions) and angular velocity
DVL: Doppler Velocity Logger
- Measures our current velocity
ZED: Our front-facing camera
TAM: Thruster Allocation Matrix
- See: Thruster Mixing
Teleop: Tele-operation
- The program used to allow a human to control the sub, currently with a video game controller