I am looking forward to being able to actually put my AUV in the water and say “go that way at this ESC revs, for 30 seconds” and see how repeatable it is and how it scales with battery voltage.
I suspect that it will be good enough, but if it’s not then I’ll replace the depth pinger with a DVL.
If it’s relevant, I’ve found this to be a similar experience with our 148Wh LiPo packs, as long as they have the leads covered (e.g. with some tape over them), they’re in boxes, and there are no more than 2 per passenger.
I guess that could be more complicated if the battery in question isn’t commercially available, as people tend to be suspicious of anything homemade…
Thanks for the shout-out 
To those not aware, BR have made one with broader coverage if that’s of interest, which is actually getting updates. I’m not sure how best to reconcile the two options, given I like the transparency of git for tracking changes over time, but understandably a comparative resource is most useful when it’s comprehensive and up to date. As I mentioned in a recent talk, “open source is not sufficient”…
I should likely try to link to the spreadsheet in the places that currently link to the GitHub file, if only to make sure people are aware of it.
Some really interesting insights and conversations in this thread - it’s always fascinating and exciting when the community comes together to discuss ideas, tradeoffs, and potential innovations 
Hi,good job!!!
There is another question! Has anyone heard of the open-source software platforms for AUV?
I’m also looking at this but here is the information I have so far.
For an autopilot I think Ardupilot’s sub should be OK ( ArduPilot Sub — Sub documentation ). I have used it for an Octocopter and was good with good support (many users). Not sure how stable the “sub” part I haven’t personally experimented with it.
PX4 open-source is also an autopilot but I’m less familiar with its capabilities.
ROS/ROS2 can be used to add higher level capabilities to Ardupilot or PX4.
Hi @octopus
I’ve been working on an AUV vehicle running ArduSub - controlled via Lua script in conjunction with BlueOS! A full guide is coming before the end of the year…. but you can checkout the code here (HAUV.Lua) - the repository also holds an extension that is used to record video, triggered by the script, and also telemetry data to a .ass subtitles file…
Let me know if you have any questions about it….
Answering my own questions .
I talked to WaterLinked and they said the error is in velocities only (x,y,z)… so “distance traveled” can be very accurate with no INS. Positional error in the other hand will depend greatly on quality of the attitude sensor. i.e. what is the orientation of the vehicle when traveling at x,y,z velocities… integrated over time of course.
So, as I suspected, a good INS will be needed for low error in long range navigations.