We are trying to make a science fair project - to make a “robotic boat” that will go to several different waypoints to collect water specimens,
Here is what we have so far:
I think ArduPilot is a good way to go. I am able to plan and execute a set of waypoints using the simulator - it is possible to make special waypoints to make the robot boat trigger a set of outputs that we can use to fill a specimen bottle?
I also bought this from Amazon:
I am not sure if we need an IMU, or a flight controller - it seems like maybe we can use an Arduino for that, but a Naze 32 seem interesting, although I was hoping to not spend that much (not sure if I need an Acro or a Full to use the compass and GPS unit I already ordered). Since it is a boat, maybe an IMU is optional - it seems like a GPS and compass should be enough. Does a flight computer have relay outputs?
The other thing I think we will need, is some sort of telemetry. I have seen some discussions regarding SIK telemetry setups, and I know we need something with two matched ends (one for the ground control computer, and one for the aircraft (or boat for our case), but I don’t know how you would use a joystick if you wanted to over-ride the mission - does this normally plug into the ArduPilot computer - they normally have a transmitter, so maybe it just over-rides that laptop signal? Maybe the joystick is optional anyway - you can fly the boat by just clicking on the screen.
I think we can use a cheap CNC motor and controller that we use a lot at work, although we usually use position control, not speed control. I know how to drive this quite well with an arduino. If we used a pair of them, then we maybe don’t need a rudder. Not sure if you can drive these direct with a flight controller, or if these use a different controller entirely. I think we have a couple of tiny servos laying around that we can use for his collection device, and we will need to get a small water pump (and relay driver of some sort) too.
Lastly, I see where a raspberry pi is used onboard - does ardupilot go on there? If I use an arduino to control the motors and IO, where does this fit in? I have seen this arduino AHRS, but not sure if I can use this instead of a flight controller, or if it will work with my hardware, or what. GitHub - STMPNGRND/ardunav: Open Source AHRS development platform and Algorithms
This is where I am trying to work through at the moment…