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ArduSub, the underwater version of ArduPilot, now live

Posted by Chris Anderson on February 28, 2016 at 10:30am

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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.

System Components

  • 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

ROV/AUV Types

ROVs

  • 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
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Comments

  • Rustom Jehangir February 29, 2016 at 8:25am

    @JB - Yes, the sensor we are using (MS5837-30BA) has 2mm depth resolution in water. That helps dramatically for depth holding.

  • Rustom Jehangir February 29, 2016 at 8:22am

    @Rob, there is a third thruster on the back of the ROV that balances out the vertical motion and provide pitching control.

  • Rob_Lefebvre February 29, 2016 at 7:54am

    Very cool stuff.

    Can anybody explain how it achieve vertical thrust, without pitching?  The vertical thrusters are quite far from the CG.

  • Moderator
    Dwgsparky February 29, 2016 at 7:37am

    Great, I want one. 

    Ok, we need a Ardu Sub group, I want to follow this closely. 

  • Developer
    Randy February 29, 2016 at 12:49am

    Very nicely done!  It's surprisingly responsive even though it's underwater.

  • Serge Contal February 29, 2016 at 12:34am

    Awesome !

  • JB February 28, 2016 at 11:46pm

    Nice nice nice...who has time to fly all these wonderful adaptions of Ardupliot? I think I need a clone. :-)

    I'm assuming the depth stability is due to the depth sensor accuracy?

  • Moderator
    Gary Mortimer February 28, 2016 at 11:06pm

    Tridge should get Ardurocket, he's trying it with the Register chaps.

  • Rustom Jehangir February 28, 2016 at 10:07pm

    @bigkahuna - We're seeing depth holding performance of +/- 2 cm in a test tank. I have had to turn the depth holding parameters down a big during our ocean tests because it follows the swells up and down precisely, which is not good if you're trying to observe the bottom.

  • Jacob February 28, 2016 at 9:39pm

    I'm excited that this is getting more attention! bigkahuna is right! The water pressure sensors perform very well. Here is another one demonstrating the rock-solid stability.

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