[Gdeaver]

I've looked at the team website and the competition web site. What exactly are you having a problem with? From the call for mouse odometry, I would infer that you are having problems navigating to the various stations. Is this it? Do you have a well stabilized platform? Can you navigate a straight line using the PNI compass and gyro board? What sensor fussion algorithm are you using. Can you maintain constant depth with the pressure sensor? You have 10 DOF with the sensors you should have a good AHRS solution. So you are looking to supplement this with a X and Y distance measurement. Be aware that with only 1 mouse odometry input there are multiple solutions. 1 with no body rotation (a line) and one with body rotation. In 3 D of course. Thus the need to fuse with the AHRS. The curved bottom of the pool and variations in depth and platform orientation from level will mess with accuracy. Looking at the diagram of the pool 1st gen cruise missile comes to mind. Dead recon to a way point, detect way point object and orientation with vision. Rotate and dead recon heading to next way point etc. So what have you achieved and what needs improvement?