22
Jun 10

All hooked up (and almost boxed up) What a mess!!!

All hooked up (easier to see each component)

Control Panel Note this display would normally be powered off while sailing (via LCD toggle shown). It is just used to verify status of sensors, etc prior to launch. Various information is displayed and updates every few seconds. Green button pauses/resumes on currently displayed info.

Microcontroller

  • ArduPilot Mega - this one's perfect! It includes convenient RC override! It's worth noting that I do not plan to use the navigation software that comes with the ArduPilot microcontroller because it will not work for my needs 'out of the box' and this portion of the challenge is part of why I'm doing this project in the first place! I was quite surprised at how tiny the board was when it arrived in the mail. 🙂


    I've also been messing with a TI Launchpad for some tests. For example, I used it to test the automation of the camera power on/off, mode, and shutter. (see Camera/Video below for more info)
    However, I ultimately decided to just run the cameras off the main ardupilot board since I had plenty of pins.

    • GPS

  • 66 Channel LS20031 GPS 10Hz Receiver

    • Camera/Video

  • I bought 2 Polaroid DVG-130 cameras I found at Fry's Electronics for $18.05 each!
    Click here to see a video demonstration of the camera automation



  • I'm somewhat considering wireless video that has a 1 mile range or so. It won't be useful for long trips, but might be worth it for watching live video from laptop on shore when the boat is near shore.

    • Heading Sensor (Boat)

  • Compass Module (with tilt compensation)

    • I was originally planning to use this much cheaper sensor, but have since realized that it requires a perfectly level orientation to produce accurate/usable results.

    Heading Sensor (Wind)

  • Magnetic Shaft Encoder - I will have to make the actual wind vane that is attached to this.  This part is a bit pricey, but it comes in a ball-bearing variety that supposedly is extremely low friction... something standard potentiometers really don't offer.

    • Rudder Servo

  • I'm using a hugenormous Futaba S5302 servo for the rudder.

    • Click here to see the rudder servo in action (ignore the 2nd half of the video - it just shows the boat some more, but it's too dark to see much anyways!)

    Sail Position Sensors Underneath the white silicon (Sugru) are 3 reed sensors wired up in parallel. Another set of sensors is located on the opposite side of the deck lid as well.