Good news from Blue Robotics: they've crossed the final(?) frontier and ArduPilot is now underwater. Welcome ArduSub! (In historic progression since the founding of the project it was Plane, Copter, Rover, Boat and now Sub)
All details are here, but this is the summary:
Firmware for Remote-Operated and Autonomous Capabilities in Underwater Vehicles
The ArduSub project is a fully-featured, open-source controller for remotely operated underwater vehicles (ROVs) and autonomous underwater vehicles (AUVs). Based on the popular ArduCopter code, the ArduSub code has extensive capabilities out of the box including feedback stability control, depth and heading hold, and autonomous position control if provided with position feedback.
ArduSub is designed to be safe, feature-rich, open-ended, and easy to use even for novice users.
- A PixHawk or other DroneCode-compatible autopilot loaded with the latest version of the ArduSub firmware.
- QGroundControl software for setup, configuration, and operation of the vehicle.
- A suitable ROV or AUV for use with the software
- Many other useful additions: depth sensors, tether communications, cameras, and other sensors and actuators
ArduSub currently supports two frame configurations:
- BlueROV 6DOF Frame: Maneuvers with unique 6 degree-of-freedom control
- Vectored w/ Side-by-Side Vertical Thrusters: Provides excellent smooth control and stability
- Vectored w/ Corner Vertical Thrusters: Provides excellent smooth control, stability, and 6-DOF control
In the future, other frame types will be supported, such as:
3 and 4 thrusters arranged with two thrusters for forward/turn and one or two for vertical