The autonomous boat build.

Today is one of my happiest days of invention. Finally after lots of frustration of hardware limitations and experimenting day and night on my free time, i manage to test my hardware part in real environment condition.
I am talking about a vessel which runs autonomously to the way-points and returns to home without any control by me or anyone. I can not go too deep on this project cause this is group project which i am working on and i hope the final product will be live on web once fully completed.

The test run

first run was a mess, yes it was a mess with lack of knowledge of building the steering and motor control the whole test was a failure and a passing by small boat help us to rescue out boat. So after this i have stop building this further and starts experimenting and learning the steering logic.

Kab0000000ms

Kaboooms and loss of valuable hardware during hardware experimenting but with support managed to get new stuffs to start the experiments again.

Re Test run ( the happiest moment )

After days of studying and experimenting all over again and again. Improving the hardware, power system, motor system, GPS and compass system and radio system i was able to do the test today. This day should be celebrated when all the group members returns from there official trips. :) :)



way-points fed to the autonomous boat and ready to run when GPS is locked.


Data offload from the boat . This is track data with  GPS info, heading , distance to way-points and many more

Original transcript keke ( this data from back to back test runs and the wireless data transfer is littles buggy but ok for testing use.)
current waypoint: 1
GPS LAT: 4.207012
GPS LON: 73.542716
Distance to waypoint: 57.00
GPS Bearing to waypoint: 108.15
Compass data: 315
GPS head-compass head: -206
motor runing
current waypoint: 1
GPS LAT: 4.207013
GPS LON: 73.542709
Distance to waypoint: 57.85
GPS Bearing to waypoint: 108.03
Compass data: 317
GPS head-compass head: -208
motor runing
current waypoint: 1
GPS LAT: 4.207009
GPS LON: 73.542709
Distance to waypoint: 57.72
GPS Bearing to waypoint: 107.62
Compass data: 317
GPS head-compass head: -209
motor runing
current waypoint: 1
GPS LAT: 4.207009
GPS LON: 73.542709
Distance to waypoint: 57.72
GPS Bearing to waypoint: 107.62
Compass data: 314
GPS head-compass head: -206
motor runing
current waypoint: 1
GPS LAT: 4.207010
GPS LON: 73.542709
Distance to waypoint: 57.73
GPS Bearing to waypoint: 107.67
Compass data: 314
GPS head-compass head: -206
motor runing
current waypoint: 1
GPS LAT: 4.207012
GPS LON: 73.542709
Distance to waypoint: 57.79
GPS Bearing to waypoint: 107.85
Compass data: 316
GPS head-compass head: -208
motor runing
current waypoint: 1
GPS LAT: 4.207012
GPS LON: 73.542709
Distance to waypoint: 57.82
GPS Bearing to waypoint: 107.94
Compass data: 318
GPS head-compass head: -210
motor runing
current waypoint: 1
GPS LAT: 4.207008
GPS LON: 73.542709
Distance to waypoint: 57.68
GPS Bearing to waypoint: 107.49
Compass data: 267
GPS head-compass head: -159
motor runing
current waypoint: 1
GPS LAT: 4.206995
GPS LON: 73.542724
Distance to waypoint: 55.64
GPS Bearing to waypoint: 106.61
Compass data: 240
GPS head-compass head: -133
motor runing
current waypoint: 1
GPS LAT: 4.206996
GPS LON: 73.542739
Distance to waypoint: 54.05
GPS Bearing to waypoint: 107.22
Compass data: 185
GPS head-compass head: -77
motor runing
current waypoint: 1
GPS LAT: 4.206998
GPS LON: 73.542739
Distance to waypoint: 54.10
GPS Bearing to waypoint: 107.41
Compass data: 188
GPS head-compass head: -80
motor runing
current waypoint: 1
GPS LAT: 4.206997
GPS LON: 73.542739
Distance to waypoint: 54.08
GPS Bearing to waypoint: 107.32
Compass data: 196
GPS head-compass head: -88
motor runing
current waypoint: 1
GPS LAT: 4.206996
GPS LON: 73.542739
Distance to waypoint: 54.05
GPS Bearing to waypoint: 107.22
Compass data: 199
GPS head-compass head: -91
motor runing
current waypoint: 1
GPS LAT: 4.206996
GPS LON: 73.542739
Distance to waypoint: 54.06
GPS Bearing to waypoint: 107.27
Compass data: 194
GPS head-compass head: -86
motor runing
current waypoint: 1
GPS LAT: 4.206996
GPS LON: 73.542739
Distance to waypoint: 54.05
GPS Bearing to waypoint: 107.22
Compass data: 190
GPS head-compass head: -82
motor runing
current waypoint: 1
GPS LAT: 4.206995
GPS LON: 73.542747
Distance to waypoint: 53.17
GPS Bearing to waypoint: 107.25
Compass data: 195
GPS head-compass head: -87
motor runing
current waypoint: 1
GPS LAT: 4.206994
GPS LON: 73.542747
Distance to waypoint: 53.15
GPS Bearing to waypoint: 107.20
Compass data: 203
GPS head-compass head: -95
motor runing
current waypoint: 1
GPS LAT: 4.206995
GPS LON: 73.542747
Distance to waypoint: 53.20
GPS Bearing to waypoint: 107.34
Compass data: 214
GPS head-compass head: -106
motor runing
current waypoint: 1
GPS LAT: 4.206997
GPS LON: 73.542755
Distance to waypoint: 52.46
GPS Bearing to waypoint: 107.87
Compass data: 238
GPS head-compass head: -130
motor runing
current waypoint: 1
GPS LAT: 4.206996
GPS LON: 73.542762
Distance to waypoint: 51.61
GPS Bearing to waypoint: 108.01
Compass data: 234
GPS head-compass head: -125
motor runing
current waypoint: 1
GPS LAT: 4.206994
GPS LON: 73.542770
Distance to waypoint: 50.75
GPS Bearing to waypoint: 108.10
Compass data: 209
GPS head-compass head: -100
motor runing
current waypoint: 1
GPS LAT: 4.206995
GPS LON: 73.542770
Distance to waypoint: 50.76
GPS Bearing to waypoint: 108.15
Compass data: 195
GPS head-compass head: -86
motor runing
current waypoint: 1
GPS LAT: 4.206995
GPS LON: 73.542778
Distance to waypoint: 49.99
GPS Bearing to waypoint: 108.55
Compass data: 184
GPS head-compass head: -75
motor runing
current waypoint: 1
GPS LAT: 4.207002
GPS LON: 73.542770
Distance to waypoint: 51.02
GPS Bearing to waypoint: 109.01
Compass data: 69
GPS head-compass head: 40
motor runing
current waypoint: 1
GPS LAT: 4.207005
GPS LON: 73.542762
Distance to waypoint: 51.93
GPS Bearing to waypoint: 109.05
Compass data: 18
GPS head-compass head: 91
motor runing
current waypoint: 1
GPS LAT: 4.206999
GPS LON: 73.542747
Distance to waypoint: 53.31
GPS Bearing to waypoint: 107.73
Compass data: 23
GPS head-compass head: 84
motor runing
current waypoint: 1
GPS LAT: 4.206999
GPS LON: 73.542739
Distance to waypoint: 54.13
GPS Bearing to waypoint: 107.51
Compass data: 31
GPS head-compass head: 76
motor runing
current waypoint: 1
GPS LAT: 4.207000
GPS LON: 73.542732
Distance to waypoint: 54.98
GPS Bearing to waypoint: 107.39
Compass data: 66
GPS head-compass head: 41
motor runing
current waypoint: 1
GPS LAT: 4.207001
GPS LON: 73.542732
Distance to waypoint: 55.03
GPS Bearing to waypoint: 107.53
Compass data: 159
GPS head-compass head: -51
motor runing
current waypoint: 1
GPS LAT: 4.206996
GPS LON: 73.542724
Distance to waypoint: 55.67
GPS Bearing to waypoint: 106.71
Compass data: 176
GPS head-compass head: -69
motor runing
current waypoint: 1
GPS LAT: 4.206994
GPS LON: 73.542732
Distance to waypoint: 54.79
GPS Bearing to waypoint: 106.72
Compass data: 222
GPS head-compass head: -115
motor runing
current waypoint: 1
GPS LAT: 4.206992
GPS LON: 73.542739
Distance to waypoint: 53.92
GPS Bearing to waypoint: 106.79
Compass data: 237
GPS head-compass head: -130
motor runing
current waypoint: 1
GPS LAT: 4.206988
GPS LON: 73.542747
Distance to waypoint: 52.98
GPS Bearing to waypoint: 106.56
Compass data: 238
GPS head-compass head: -131
motor runing
current waypoint: 1
GPS LAT: 4.206980
GPS LON: 73.542762
Distance to waypoint: 51.08
GPS Bearing to waypoint: 106.08
Compass data: 229
GPS head-compass head: -122
motor runing
current waypoint: 1
GPS LAT: 4.206977
GPS LON: 73.542770
Distance to waypoint: 50.21
GPS Bearing to waypoint: 106.09
Compass data: 229
GPS head-compass head: -122
motor runing
current waypoint: 1
GPS LAT: 4.206974
GPS LON: 73.542778
Distance to waypoint: 49.30
GPS Bearing to waypoint: 105.99
Compass data: 236
GPS head-compass head: -130
motor runing
current waypoint: 1
GPS LAT: 4.206966
GPS LON: 73.542793
Distance to waypoint: 47.41
GPS Bearing to waypoint: 105.45
Compass data: 237
GPS head-compass head: -131
motor runing
current waypoint: 1
GPS LAT: 4.206964
GPS LON: 73.542800
Distance to waypoint: 46.51
GPS Bearing to waypoint: 105.33
Compass data: 227
GPS head-compass head: -121
motor runing
current waypoint: 1
GPS LAT: 4.206964
GPS LON: 73.542800
Distance to waypoint: 46.52
GPS Bearing to waypoint: 105.39
Compass data: 220
GPS head-compass head: -114
motor runing
current waypoint: 1
GPS LAT: 4.206960
GPS LON: 73.542808
Distance to waypoint: 45.61
GPS Bearing to waypoint: 105.21
Compass data: 218
GPS head-compass head: -112
motor runing
current waypoint: 1
GPS LAT: 4.206958
GPS LON: 73.542816
Distance to waypoint: 44.71
GPS Bearing to waypointcurrent waypoint: 1
GPS LAT: 4.206956
GPS LON: 73.542823
Distance to waypoint: 43.86
GPS Bearing to waypoint: 105.25
Compass data: 168
GPS head-compass head: -62
motor runing
current waypoint: 1
GPS LAT: 4.206957
GPS LON: 73.542823
Distance to waypoint: 43.87
GPS Bearing to waypoint: 105.31
Compass data: 153
GPS head-compass head: -47
motor runing
current waypoint: 1
GPS LAT: 4.206956
GPS LON: 73.542823
Distance to waypoint: 43.85
GPS Bearing to waypoint:current waypoint: 1
GPS LAT: 4.206951
GPS LON: 73.542831
Distance to waypoint: 42.91
GPS Bearing to waypoint: 104.88
Compass data: 175
GPS head-compass head: -70
motor runing
current waypoint: 1
GPS LAT: 4.206948
GPS LON: 73.542831
Distance to waypoint: 42.82
GPS Bearing to waypoint: 104.45
Compass data: 189
GPS head-compass head: -84
motor runing
current waypoint: 1
GPS LAT: 4.206941
GPS LON: 73.542839
Distance to waypoint: 41.79
GPS Bearing to waypoint:current waypoint: 1
GPS LAT: 4.206933
GPS LON: 73.542839
Distance to waypoint: 41.59
GPS Bearing to waypoint: 102.39
Compass data: 211
GPS head-compass head: -108
motor runing
current waypoint: 1
GPS LAT: 4.206918
GPS LON: 73.542846
Distance to waypoint: 40.43
GPS Bearing to waypoint: 100.28
Compass data: 220
GPS head-compass head: -119
motor runing
current waypoint: 1
GPS LAT: 4.206911
GPS LON: 73.542839
Distance to waypoint: 41.15
GPS Bearing to waypoint: 99.16
Compass data: 237
GPS head-compass head: -137
motor runing
current waypoint: 1
GPS LAT: 4.20690: 41.03
GPS Bearing to waypoint: 98.12
Compass data: 256
GPS head-compass head: -157
motor runing
current waypoint: 1
GPS LAT: 4.206897
GPS LON: 73.542831
Distacurrent waypoint: 1
GPS LAT: 4.206894
GPS LON: 73.542823
Distance to waypoint: 42.57
GPS Bearing to waypoint: 96.21
Compass data: 283
current waypoint: 1ad: -186
GPS LAT: 4.206894
GPS LON: 73.542816
Distance to waypoint: 43.41
GPS Bearing to waypoint: 96.09
Compass data: 300
current waypoint: 1ad: -203
GPS LAT: 4.206896
GPS LON: 73.542808
Distance to waypoint: 44.27
GPS Bearing to waypoint: 96.22
Compass data: 313
current waypoint: 1ad: -216
GPS LAT: 4.206908
GPS LON: 73.542793
Distance to waypoint: 46.12
GPS Bearing to waypoint: 97.75
Compass data: 316
GPS head-compass head: -218
motor runing
current waypoint: 1
GPS LAT: 4.206912
GPS LON: 73.542793
Distance to waypoint: 46.18
GPS Bearing to waypoint: 98.28
Compass data: 318
GPS head-compass head: -219
motor runing
current waypoint: 1
GPS LAT: 4.206915
GPS LON: 73.542793
Distance to waypoint: 46.22
GPS Bearing to waypoint: 98.63
Compass data: 311
GPS head-compass head: -212
current waypoint: 1
GPS LAT: 4.206916
GPS LON: 73.542785
Distance to waypoint: 47.07
GPS Bearing to waypoint: 98.59
Compass data: 328
current waypoint: 1ad: -229
GPS LAT: 4.206920
GPS LON: 73.542778
Distance to waypoint: 47.99
GPS Bearing to waypoint: 99.05
Compass data: 333
current waypoint: 1ad: -233
GPS LAT: 4.206922
GPS LON: 73.542778
Distance to waypoint: 48.01
GPS Bearing to waypoint: 99.22
Compass data: 50
GPS head-compass head: 49
motor runing
current waypoint: 1
GPS LAT: 4.206920
GPS LON: 73.542785
Distance to waypoint: 47.15
GPS Bearing to waypoint: 99.16
Compass data: 72
GPS head-compass head: 27
motor runing
current waypoint: 1
GPS LAT: 4.206920
GPS LON: 73.542785
Distance to waypoint: 47.15
GPS Bearing to waypoint: 99.16
Compass data: 74
GPS head-compass head: 25
motor runing
current waypoint: 1
GPS LAT: 4.206912
GPS LON: 73.542793
Distance to waypoint: 46.18
GPS Bearing to waypoint: 98.28
Compass data: 2
GPS head-compass head: 96
motor runing
current waypoint: 1
GPS LAT: 4.206914
GPS LON: 73.542800
Distance to waypoint: 45.37
GPS Bearing to waypoint: 98.67
Compass data: 345
GPS head-compass head: -246
motor runing
current waypoint: 1
GPS LAT: 4.206917
GPS LON: 73.542800
Distance to waypoint: 45.42
GPS Bearing to waypoint: 99.02
Compass data: 356
GPS head-compass head: -256
motor runing
current waypoint: 1
GPS LAT: 4.206921
GPS LON: 73.542808
Distance to waypoint: 44.66
GPS Bearing to waypoint: 99.79
Compass data: 354
GPS head-compass head: -254
motor runing
current waypoint: 1
GPS LAT: 4.206923
GPS LON: 73.542816
Distance to waypoint: 43.88
GPS Bearing to waypoint: 100.35
Compass data: 347
GPS head-compass head: -246
motor runing
current waypoint: 1
GPS LAT: 4.206926
GPS LON: 73.542816
Distance to waypoint: 43.93
GPS Bearing to waypoint: 100.71
Compass data: 348
GPS head-compass head: -247
motor runing
current waypoint: 1
GPS LAT: 4.206931
GPS LON: 73.542823
Distance to waypoint: 43.19
GPS Bearing to waypoint: 101.54
Compass data: 0
GPS head-compass head: 101
motor runing
current waypoint: 1
GPS LAT: 4.206930
GPS LON: 73.542831
Distance to waypoint: 42.34
GPS Bearing to waypoint: 101.65
Compass data: 7
GPS head-compass head: 94
motor runing
current waypoint: 1
GPS LAT: 4.206930
GPS LON: 73.542831
Distance to waypoint: 42.34
GPS Bearing to waypoint: 101.65
Compass data: 10
GPS head-compass head: 91
motor runing
current waypoint: 1
GPS LAT: 4.206930
GPS LON: 73.542831
Distance to waypoint: 42.35
GPS Bearing to waypoint: 1current waypoint: 1
GPS LAT: 4.206930
GPS LON: 73.542831
Distance to waypoint: 42.34
GPS Bearing to waypoint: 101.65
Compass data: 87
GPS head-compass head: 14
motor runing
current waypoint: 1
GPS LAT: 4.206929
GPS LON: 73.542839
Distance to waypoint: 41.50
GPS Bearing to waypoint: 101.82
Compass data: 147
GPS head-compass head: -45
motor runing
current waypoint: 1
GPS LAT: 4.206927
GPS LON: 73.5428current waypoint: 1
GPS LAT: 4.206919
GPS LON: 73.542846
Distance to waypoint: 40.45
GPS Bearing to waypoint: 100.48
Compass data: 113
current waypoint: 1ad: -12
GPS LAT: 4.206914
GPS LON: 73.542854
Distance to waypoint: 39.53
GPS Bearing to waypoint: 100.03
Compass data: 95
GPS head-compass head: 5
mocurrent waypoint: 1
GPS LAT: 4.206912
GPS LON: 73.542869
Distance to waypoint: 37.82
GPS Bearing to waypoint: 100.05
Compass data: 123
 waypoint: 35.99 head: -22
GPS Bearing to waypoint: 99.03
Compass data: 114
GPS head-compass head: -14
motor runing
current waypoint: 1
GPS LAT: 4.206899
GPS LON: 73.54290current waypoint: 1
GPS LAT: 4.206896
GPS LON: 73.542907
Distance to waypoint: 33.36
GPS Bearing to waypoint: 98.35
Compass data: 119
GPS head-compass head: -20
current waypoint: 1
GPS LAT: 4.206893
GPS LON: 73.542915
Distance to waypoint: 32.47
GPS Bearing to waypoint: 97.98
Compass data: 104
GPS head-compass head: -6
mcurrent waypoint: 1
GPS LAT: 4.206890
GPS LON: 73.542922
Distance to waypoint: 31.58
GPS Bearing to waypoint: 97.43
Compass data: 110
GPS head-compass head: -12
tor runing
current waypoint: 1
GPS LAT: 4.206886
GPS LON: 73.542945
Distance to waypoint: 29.02
GPS Bearing to waypoint: 97.43
Compass data: 103
GPS head-compasscurrent waypoint: 1
GPS LAT: 4.206884
GPS LON: 73.542953
Distance to waypoint: 28.15
GPS Bearing to waypoint: 97.17
Compass data: 107
GPS head-compass head: -9
mcurrent waypoint: 1
GPS LAT: 4.206882
GPS LON: 73.542968
Distance to waypoint: 26.43
GPS Bearing to waypoint: 97.02
Compass data: 97
GPS head-compass head: 0
motcurrent waypoint: 1
GPS LAT: 4.206881
GPS LON: 73.542976
Distance to waypoint: 25.58
GPS Bearing to waypoint: 96.93
Compass data: 108
GPS histance to waypoint: 22.14
GPS Bearing to waypoint: 96.40
Compass data: 94
GPS head-compass head: 2
motcurrent waypoint: 1
GPS LAT: 4.206874
GPS LON: 73.543014
Distance to waypoint: 21.30
GPS Bearing to waypoint: 96.53
Compass data: 106
GPS head-compass head: -9
mcurrent waypoint: 1
GPS LAT: 4.206868
GPS LON: 73.543060
Distance to waypoint: 16.17
GPS Bearing to waypoint: 95.90
Compass data: 104
GPS head-compass head: -8
motor runing
current waypoint: 1
GPS LAT: 4.206865
GPS LON: 73.543075
Distance to waypoint: 14.45
GPS Bearing to waypoint: 95.28
Compass data: 100
GPS head-compass head: -4
motor runing
current waypoint: 1
GPS LAT: 4.206863
GPS LON: 73.543083
Distance to waypoint: 13.59
GPS Bearing to waypoint: 9current waypoint: 1
GPS LAT: 4.206860
GPS LON: 73.543098
Distance to waypoint: 11.87
GPS Bearing to waypoint: 93.67
Compass data: 105
GPS head-compass head: -11
motor runing
current waypoint: 1
GPS LAT: 4.206858
GPS LON: 73.543113
Distance to waypoint: 10.17
GPS Bearing to waypoint: 92.94
Compass data: 98
GPS head-compass head: -5
motor runing
current waypoint: 1
GPS LAT: 4.206856
GPS LON: 73.543121
Distance to waypoint: 9.32
GPS Bearing to waypoint: 92.34
Compass data: 98
GPS head-compass head: -5
motor runing
current waypoint: 1
GPS LAT: 4.206854
GPS LON: 73.543136
Distance to waypoint: 7.62
GPS Bearing to waypoint: 91.43
Compass data: 108
GPS head-compass head: -16
motor runing
current Bearing to waypoint: 89current waypoint: 1
GPS LAT: 4.206853
GPS LON: 73.543151
Distance to waypoint: 5.92
GPS Bearing to waypoint: 90.00
Compass data: 109
GPS head-compass head: -19
motor runing
current waypoint: 1
GPS LAT: 4.206852
GPS LON:istance to waypoint: 11current waypoint: 2
GPS LAT: 4.206928
GPS LON: 73.543258
Distance to waypoint: 7.current waypoint: 2
GPS LAT: 4.206964
GPS LON: 73.543258
Distance to waypoint: 3.current waypoint: 3
GPS LAT: 4.206992
GPS LON: 73.543235
Distance to waypoint: 34current waypoint: 3
GPS LAT: 4.206977
GPS LON: 73.543197
Distance to waypoint: 30current waypoint: 3
GPS LAT: 4.206974
GPS LON: 73.543190
Distance to waypoint: 29.62
GPS Bearing to waypoint: 270.00
Compass data: 267
GPS head-compass head: 3
motor runing
istance to waypoint: 22current waypoint: 3
GPS LAT: 4.206946
GPS LON: 73.543098
Distance to waypoint: 19current waypoint: 3
GPS LAT: 4.206941
GPS LON: 73.543052
Distance to waypoint: 14current waypoint: 3
GPS LAT: 4.206944
GPS LON: 73.543014
Distance to waypoint: 10current waypoint: 3
GPS LAT: 4.206951
GPS LON: 73.542976
Distance to waypoint: 6.current waypoint: 3
GPS LAT: 4.206952
GPS LON: 73.542968
Distance to waypoint: 5.current waypoint: 3
GPS LAT: 4.206951
GPS LON: 73.542961
Distance to waypoint: 4.current waypoint: 3
GPS LAT: 4.206958
GPS LON: 73.542930
Distance to waypoint: 1.95
GPS Bearing to waypoint: 334.28
Compass data: 330
GPS head-compass head: 4
motor runing
current waypoint: 3
GPS LAT: 4.206974
GPS LON: 73.542922
Distance to waypoint: 0.05
GPS Bearing to waypoint: 180.00
Compass data: 334
GPS head-compass head: -154
motor runing
current waypoint: 4
GPS LAT: 4.206982
GPS LON: 73.54291current waypoint: 4
GPS LAT: 4.206986
GPS LON: 73.542907
Distance to waypoint: 9.42
GPS Bearing to waypoint: 195.64
Compass data: 271
GPS head-compass head: -75
current waypoint: 4
GPS LAT: 4.206987
GPS LON: 73.542907
Distance to waypoint: 9.51
GPS Bearing to waypoint: 195.49
Compass data: 235
GPS head-compass head: -39
current waypoint: 4
GPS LAT: 4.206978
GPS LON: 73.542900
Distance to waypoint: 8.34
GPS Bearing to waypoint: 191.71
Compass data: 208
GPS head-compass head: -16
current waypoint: 4
GPS LAT: 4.206971
GPS LON: 73.542900
Distance to waypoint: 7.46
GPS Bearing to waypoint: 193.12
Compass data: 197
GPS head-compass head: -3
mcurrent waypoint: 4
GPS LAT: 4.206954
GPS LON: 73.542907
Distance to waypoint: 6.02
GPS Bearing to waypoint: 204.94
Compass data: 201
GPS head-compass head: 3
mocurrent waypoint: 4
GPS LAT: 4.206937
GPS LON: 73.542907
Distance to waypoint: 4.41
GPS Bearing to waypoint: 215.13
Compass data: 207
GPS head-compass head: 8
mocurrent waypoint: 4
GPS LAT: 4.206928
GPS LON: 73.542907
Distance to waypoint: 3.61
GPS Bearing to waypoint: 224.72
Compass data: 220
GPS head-compass head: 4
mowaypoint: 3.01
GPS Bearing to waypoint: 237.55
Compass data: 224
GPS head-compass head: 13
motor runing
current waypoint: 4
GPS LAT: 4.206904
current waypoint: 4
GPS LAT: 4.206899
GPS LON: 73.542892
Distance to waypoint: 1.08
GPS Bearing to waypoint: 308.15
Compass data: 259
GPS head-compass head: 49
mcurrent waypoint: 4
GPS LAT: 4.206896
GPS LON: 73.542884
END OF TRIP
Distance to waypoint: 1.00
GPS Bearing to waypoint: 0.00
Compass data: 292
GPS head-compass WWQQ1current waypoint: 1
GPS LAT: 4.207008
GPS LON: 73.542770
Distance to waypoint: 51.27
GPS Bearing to waypoint: 109.81
Compass data: 178
GPS head-compass head: -68
motor runing
current waypoint: 1
GPS LAT: 4.207011
GPS LON: 73.542785
Distance to waypoint: 49.77
GPS Bearing to waypoint:current waypoint: 1
GPS LAT: 4.207001
GPS LON: 73.542823
Distance to waypoint: 45.41
GPS Bearing to waypoint: 111.27
Compass data: 112
GPS head-compass head: 0
motor runing
current waypoint: 1
GPS LAT: 4.206997
GPS LON: 73.542831
Distance to waypoint: 44.50
GPS Bearing to waypoint: 111.27
Compass data: 120
GPS head-compass head: -8
motor runing
current waypoint: 1
GPS LAT: 4.206989
GPS LON: 73.542861
Distance to waypoint: 40.99
GPS Bearing to waypoint: 111.69
Compass data: 109
GPS head-compass head: 2
motor runing
current waypoint: 1
GPS LAT: 4.206987
GPS LON: 73.542869
Distance to waypoint: 40.15
GPS Bearing to waypoint: 1current waypoint: 1
GPS LAT: 4.206984
GPS LON: 73.542884
Distance to waypoint: 38.47
GPS Bearing to waypoint: 112.49
Compass data: 113
GPS head-compass head: 0
mcurrent waypoint: 1
GPS LAT: 4.206983
GPS LON: 73.542892
Distance to waypoint: 37.58
GPS Bearing to waypoint: 112.59
Compass data: 113
GPS head-compass head: 0
motor runing
current waypoint: 1
GPS LAT: 4.206978
GPS LON: 73.542907
Distance to waypoint: 35.84
GPS Bearing to waypoint: 112.93
Compass data: 118
GPS head-compass head: -5
motor runing
current waypoint: 1
GPS LAT: 4.206975
GPS LON: 73.542915
Distance to waypoint: 34.93
GPS Bearing to waypoint: current waypoint: 1
GPS LAT: 4.206971
GPS LON: 73.542945
Dhead-compass head: 7
motor runing
current waypoint: 1
GPS LAT: 4.206971
GPS LON: 73.542953
Distance tocurrent waypoint: 1
GPS LAT: 4.206968
GPS LON: 73.542961
Distance to waypoint: 15current waypoint: 2
GPS LAT: 4.206872
GPS LON: 73.543228
Distance to waypoint: 12current waypoint: 2
GPS LAT: 4.206908
GPS LON: 73.543258
Distance to waypoint: 21current waypoint: 3
GPS LAT: 4.206967
GPS LON: 73.543075
Distance to waypoint: 11current waypoint: 3
GPS LAT: 4.206962
GPS LON: 73.543006
Distance to waypoint: 9.current waypoint: 3
GPS LAT: 4.206964
GPS LON: 73.542961
Distance to waypoint: 4.current waypoint: 3
GPS LAT: 4.206966
GPS LON: 73.542938
Distance to waypoint: 1.current waypoint: 4
GPS LAT: 4.206977
GPS LON: 73.542907
Distance to waypoint: 8.current waypoint: 4
GPS LAT: 4.206982
GPS LON: 73.542900
Distance to waypoint: 8.0
Compass data: 269
GPS head-compass head: -89
motor runing
current waypoint: 4
GPS LAT: 4.206987
GPS LON: 73.542869
Distance to waypoint: 9.current waypoint: 4
GPS LAT: 4.206982
GPS LON: 73.542869
Distance to waypoint: 8.current waypoint: 4
GPS LAT: 4.206971
GPS LON: 73.542869
Distance to waypoint: 7.current waypoint: 4
GPS LAT: 4.206964
GPS LON: 73.542877
Distance to waypoint: 6.current waypoint: 4
GPS LAT: 4.206957
GPS LON: 73.542877
Distance to waypoint: 5.current waypoint: 4
GPS LAT: 4.206942
GPS LON: 73.542892
Distance to waypoint: 4.current waypoint: 4
GPS LAT: 4.206925
GPS LON: 73.542907
Distance to waypoint: 3.current waypoint: 4
GPS LAT: 4.206900
GPS LON: 73.542907
Distance to waypoint: 2.current waypoint: 4
GPS LAT: 4.206896
GPS LON: 73.542900
Distance to waypoint: 1.current waypoint: 4
END OF TRIP


The overall run was perfect but need more and more features and upgrades. without updates this will not be perfect.

Today's credit goes to my son (Ayaan) he helped me a lot on this great break through. here is the video below and please subscribe.



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