Autoboat

Autonomous boat base station setup

For use with autonomous (Pixhawk) MOKAI jetboat performing waypoint navigation.

Setup

Initialize the APM Planner and MavLink submodules:

git submodule update --init --recursive

The following are the minimal necessary steps required to get APM Planner set up in Ubuntu. For full instructions, see the official readme.

sudo apt-get update
sudo apt-get install git qt5-qmake qt5-default \
       qtscript5-dev libqt5webkit5-dev libqt5serialport5-dev \
       libqt5svg5-dev libsdl1.2-dev  libsndfile-dev \
       flite1-dev libssl-dev libudev-dev libsdl2-dev

cd apm_planner
qmake qgroundcontrol.pro
make

Run APM Planner:

./release/apmplanner2

Boat

For now, this is meant to control an autonomous (modified) MOKAI jetboat capable of:

• TODO: Manual and automatic (watchdog) kill
• TODO: Remote start/stop
• TODO: Operation with radio dropouts

The boat will be controlled by a Pixhawk with a Digi XTend radio link. Potential expansion to Iridium satellite link in the future.

Off-the-shelf, the MOKAI boat is drive-by-wire. Once the boat arrives, we will need to splice the Pixhawk into the control electronics.

Base

APM Planner, usage TBD.