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: http://copter.ardupilot.com/wiki/common-pixhawk-overview/
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: http://copter.ardupilot.com/wiki/common-pixhawk-overview/
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: http://copter.ardupilot.com/wiki/common-installing-3dr-ublox-gps-compass-module/
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: http://copter.ardupilot.com/wiki/common-3dr-power-module/
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