BlueROV Electrical Interconnect Block Diagram

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Presentation transcript:

20160318 BlueROV Electrical Interconnect Block Diagram BlueRoboticsPressure / Temp. Sensor 6600 mAh 4s Lipo Battery 14.8vdc XT90 XT90 I2C Expander 3DR uBlox GPS with Compass Compass 3DR Power Module Power 5 vdc I2C GPS GPS +14.8 vdc XT60 XT60 3DR Pixhawk Autopilot Connect to aux. output, see Sht. 3 - or can connect to Pixhawk Power Module 5v / Gnd pads see Sht. 5) XT60 JST-XH BatPwr In Rpi Power 5 vdc 1.2A Pressure Enclosure +14.8 vdc XT60 Buzzer Micro USB Raspberry Pi Camera Board Raspberry Pi 2 Model B micro USB Main ESC PWM Thruster Ctrl Terminal Board Terminal Board +14.8 vdc Gnd USB JST-XH JST-XH Main Outputs See Sht. 3 ……6x….. Buzzer (Optional) Ctrl / Data Ethernet Tether Basic 30A ESC Basic 30A ESC ESCs ……6x….. Topside (Laptop) T200 Thruster T200 Thruster Thrusters ……6x….. 20160318 Sht 1 BlueROV-Block-Diagram-20160318.pptx

Pixhawk Overview Connect here for Raspberry Pi 5v power Pi Data connects to Pixhawk via MicroUSB Connect ESCs Control 1-6 Here Connect 3DR Power Module Pigtail Here Buzzer (Optional) 3DR uBlox GPS Connect I2C Expander Then connect uBlox Compass and BlueRobotics Depth Sensor to Expander Ref: http://copter.ardupilot.com/wiki/common-pixhawk-overview/ Sht 2

Pixhawk connector assignments Comms (to Rasp. Pi2) Pwr Input (from module) Warning Buzzer (optional) Signal from GPS/Compass Connect I2c Expander which is connected to uBLOX compass and Bluerobotics depth/temp. sensor Thruster ESCs - PWM Rasp. PI +5v / - Gnd. Sht 3 Ref: http://copter.ardupilot.com/wiki/common-pixhawk-overview/

3DR UBlox GPS + Compass Module This page covers the installation of the 3DR UBlox GPS + Compass module. Pressure Sensor 3DR UBlox GPS + Compass I2c Exp Ref: http://copter.ardupilot.com/wiki/common-installing-3dr-ublox-gps-compass-module/ Sht 4

Ref: http://copter.ardupilot.com/wiki/common-3dr-power-module/ 3DR Power Module This page explains how to set up the 3DR Power Module (PM) to measure battery voltage and current consumption. The information will also be useful for setting up other types of Power Module. To BlueROV Terminal Board +/Gnd XT60 Connector 3DR Power Module Connect Pixhawk Power Module 5v / Gnd pads to MicroUSB for Rpi 5v Power To Pixhawk Power Input Conn. 3DR Power Module- Reverse Side +5vdc Gnd Sht 5 Ref: http://copter.ardupilot.com/wiki/common-3dr-power-module/

Comments: 1. The “safety sw” is currently disabled in our recommended 2. I would recommend supplying power to the Raspberry Pi via one of the auxiliary outputs (shown on page 3 of your slides) 3. If you are planning to use a pressure sensor for depth, you will need to use the I2C expander that comes with the PixHawk to connect both the pressure sensor and GPS/compass. (Slide 4)