6. Command Current Expected Commands from Autonomy: Forward velocity, Lateral velocity, Heading, Depth + - Dynamics Thrusters to Forces/Moments Mapping Environment States Sensors & Estimation

7. Unity Feedback Unit Impulse Input PID Control

8. Verifying the vehicle moves as commanded from Matlab Obtaining trim values for thrusts at hover Verified robustness of communication at a high data rate New safety requirements High sensitivity to commands in water Necessity for Matlab to give more than single commands

9. Matlab/ Joystick Thrust Mapping Thrust Commands Trim Trust XBee AUV

10. Adding IMU integration Possibly have automatic vehicle trimming 5 packet types: Thruster commands Heartbeat Ping/pong IMU telemetry IMU calibration