My collection of links in the process of assembling what I'll need for an ArduPilot-based boat:
(The platform sailboat I'll use, a Soling 1M One Meter, the largest class of model boats in the American Model Yachting Association)
ArduPilot (original version)
- ArduPilot board and a row of breakaway headers
- GPS module (MediaTek or uBlox 5+adapter and cable recommended)
- FTDI cable for programming
- Four female-to-female servo cables to connect ArduPilot to your RC system
- [Optional] Two Xbee modules for wireless telemetry. This one in the air and this one with this antenna on the ground/laptop side. You'll also need two Xbee adapter boards. You can connect the airborne Xbee adapter to Ardupilot Mega with jumper wires.
Specifically needed for a Sailboat - a sailboat only absolutely needs a wind vane the rest is optional
- Wind vane - sensor for wind direction (applicable potentiometer for about $45 that has ball bearings for low friction and 360 degree range http://www.usdigital.com/products/ma3/)
- Anemometer - sensor for wind speed (may be able to use the same sensor as the wind vane, though a photo gate would be a lot cheeper)
- Compass - need something that compensates for tilt like this one $150 is a little pricey for a compass... http://www.sparkfun.com/products/8656
- triple transducer - to measure speed through the water, temperature (not sure how that is important), and depth (mapping applications or not running aground) http://www.airmartechnology.com/uploads/catalogPages/cat_145.pdf
Other discussion of ArduPilot-based boats:
Lake Depth Survey Blog - http://diydrones.com/profiles/blogs/ardupilot-goes-into-the-water
Lots of interesting posts about the evolution of a boat used the survey the depth of lakes. He used the Ardupilot and V1.0 software, but modified it for a his boat.
Discussion regarding sailboat application - http://diydrones.com/forum/topics/imu-3000Didn't entirely understand the conversation, but it regards drift compensation.
Required components for a Boat - http://diydrones.com/forum/topics/ardupilot-boat-requirementsUser Jim Covert asks about the components need for a boat project. Chris Anderson points out the that he'll want to use Ardupilot 1.0 which lacks stabilization control. A boat doesn't really need that feature.
Another lake survey project - http://letsmakerobots.com/node/21098Detailed description of boat building process and application of an Arudino Duomilanove for controlling the boat.
Boat navigation with ArduPilot - http://diydrones.com/forum/topics/boat-navigation-with-adrupilotUser Tony K. asks about the components needed to pilot a sailboat. Chris Anderson Give some direction on what is specifically needed and some specifics about GPS parameters.
Two-way Telemetry - http://diydrones.com/forum/topics/moving-waypoints-in-flightUser Peter Ho appears to be using ArduPilot on a boat and wants to change waypoints while en-route. Chris Anderson points out that two-way is available on the ArduPilot Mega.
AP for Sailing Vessel - http://diydrones.com/forum/topics/ap-for-sailing-vessel
andrew was starting a project for a auto pilot for a sailboat. He focussed on the magnetic compass. He demonstrated a working tilt compensation compass details here.
AUOOSB Open Ocean Sailboat Project - http://diydrones.com/profiles/blog/show?id=705844%3ABlogPost%3A62783&commentId=705844%3AComment%3A62801
Michael King Put up a community page at auoosb.ning.com to work toward building an autonomous sailboat. The site appears to have put on hold by NING but I believe I contacted Michael about reactivating it.
PID Tuning - http://diydrones.ning.com/forum/topics/705844:Topic:46763?xg_source=activity
Michael King Post on how to tune your PID settings for each craft. Not specific to boats, but PID tuning did cause Harald Molle a lot of grief in his boat project.
