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.
Comments
Concerning the compass tilt compensation, you might consider mechanical leveling of a cheap compass sensor. Just place it on a hinge perpendicular to the axis on which the boat will roll and suspend a weight underneath it.
GL
Will look at the development of your project.
I'm also into sailing RC, but more land and ice sailers... would love to make an autonomous land sailing boat :)
I am also slowly pecking away at an Arduino Pilot sailboat.
Thanks for pointing out some links that I haven't stumbled across yet. Please keep us posted on you progress exc..
On my boat I just got my USDigital wind vain talking to the Arduino, and need to work on some code now. Also need the ice to melt off the local lake before I can do any real testing.
My hope is that I can steer the boat based on wind direction letting its true course very to keep the wind angle optimized. GPS will be used to keep withing the boundaries of the lake, but not for direct navigation.
It may be nice to add an accelerometer so you can tell how far you are leaning over, and let out some sail before tipping over, but I haven’t looked at that yet.
Troy
Hi, just to give a little feedback on what we did.
- make sure you add a magnetometer, else at low speeds GPS does not give enough resolution and it sails in circles.
- two-way telemetry was a pain with the original Ardupilot, use APM, it is sweet!
That's it! APM is a very good autopilot, boats sail really well with it!
There seems to be a tiny, but growing group of boat-people on this site.
I am still working on this topic, but too many other projects are on the list.