BlueROV Block Diagram - 3DR Pixhawk Autopilot, 3DR uBlox GPS with Compass, Raspberry Pi 2 Model B

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  • 1.3DR Pixhawk Autopilot 3DR uBlox GPS with Compass Raspberry Pi 2 Model B Raspberry Pi Camera Board Ctrl / Data Ethernet Tether 6600 mAh 4s Lipo Battery 14.8vdc 3DR Power Module Terminal Board XT90 XT90 XT60 XT60 GPS BlueROV Electrical Block Diagram Terminal Board +14.8 vdc Basic 30A ESC T200 Thruster ESCs ……6x….. Basic 30A ESC T200 Thruster Thrusters ……6x….. Pressure Enclosure Topside (Laptop) JST-XH JST-XH JST-XH Power 5 vdc 1.2A Main Outputs See Sht. 3 ……6x….. Main ESC PWM Thruster Ctrl BatPwr In Power 5 vdc Buzzer Buzzer (Optional) +14.8 vdc Gnd 20160229 XT60 XT60 +14.8 vdc (connect to aux. output - see Sht. 3) GPS I2C Compass I2C Expander BlueRoboticsPressure / Temp. Sensor BlueROV-Block-Diagram-20160229.pptx Sht 1
  • 2.Ref: Pixhawk Overview Sht 2 Connect ESCs Control Here Buzzer (Optional) 3DR uBlox GPS Connect I2C Expander Then connect uBlox Compass and BlueRobotics Depth Sensor to Expander Connect 3DR Power Module Pigtail Here Connect here for Raspberry Pi 5v power
  • 3.Pixhawk connector assignments Thruster ESCs - PWM Pwr Input (from module) Warning Buzzer (optional) Signal from GPS/Compass Rasp. PI +5v / - Gnd. Ref: Sht 3 Connect I2c Expander which is connected to uBLOX compass and Bluerobotics depth/temp. sensor
  • 4.3DR UBlox GPS + Compass ModuleThis page covers the installation of the 3DR UBlox GPS + Compass module. Ref: Sht 4 I2c Exp Pressure Sensor
  • 5.3DR Power ModuleThis 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. Ref: XT60 Connector To BlueROV Terminal Board +/Gnd To Pixhawk Power Input Conn. Sht 5
  • 6.I’ve got a few comments: 1. The “safety sw” is currently disabled in our recommended parameters. The buzzer is optional. (Removed Safety Sw. connection from sht 1 and 3. Added word (optional) to buzzer on sht 1 and 3 .) pfw 2. I would recommend supplying power to the Raspberry Pi via one of the auxiliary outputs (shown on page 3 of your slides) (updated shts 1 and 3 accordingly) pfw 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 5) (updated shts 1 and 3 accordingly) pfw Please let us know if you have any other questions. -Rusty