I discovered the ArduPilot project after a couple of months working on a self-made ROV, based on a Raspberry 4 and an Arduino Nano for analog sensors management. I haven’t worked on the software implementation yet, and ArduSub might be of a great help, but a lot of rework would be required for that purpose :
- The on-board control software is going to run on the raspberry itself, I am not planning to buy a Pixhawk. The raspberry is connected to an IMU, Arduino and to the motors controllers with its GPIO ports
- The two main thrusters are mounted on rotating axes (driven by stepper motors) and a degree of freedom is missing (lateral translation), which implies some rework on the motors control algorithm
- I was thinking about developing a web interface for ground control by opening a web server on the Pi, so that I could design it to be used on either a computer or a smartphone even with a VR headset (using a gamepad), I’m not sure whether the QGroundController is suited for this
I’m aware that it could represent a lot of work, but as I developer myself this should be in my skills.
It might also be preferable, though, to simply restart from scratch, depending on how much ArduSub is relying on the usual configuration that uses PixHawk, a companion computer on Pi3+ and a mavlink communication.
What would you guys recommend? Did you heard about some similar projects in the past that could be of any help?