Camera fixed, Straight lines I haven't gotten a whole lot of vision work done in the past couple of days, mostly because the camera's been producing bad output. We finally tracked it down to a corroded cable last night, and have replaced it with a new camera, hopefully with a better connector. The compass is still not behaving, but its output is looking a lot better. We can probably fix it by recalibrating it; if not, it is usable over about 3/4 of its range. Even without the compass, we can make it through the gate on the IMU alone (and maybe hit the docking station). Time to go down to the pool and get this vision thing done.  ¶ kd5bjo @ 11:34