I have built a very small ROV with only 4 thrusters, using a mixture of BR and other components:
- single BR enclosure (D=50mm L=300mm)
- 4 x APISQUEEN X1 thrusters with 45A bi-directional ESCs
- BR Navigator / RPi 4
- Fathom X tether and interface boards
- BR Low-Light HD USB Camera
- Bar30 depth sensor
- gimble servo with custom mount
- custom built 8x18650 battery back (4S2P)
- alum. and PLA 3D printed frame
The challenge was fitting all the components into the small enclosure, but the system works well based on initial pool testing (yet to be ocean tested). I am using Cockpit and a game controller on the topside laptop. I designed the alum. frame and thrusters to detach easily when the enclosure needs to be opened (for battery change etc.) Only weights a couple of kg.
