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content/_index.md

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+title = "BlueOS"
+description = "Documentation for the BlueOS Docker software (replaces Companion)."
+date = 2021-10-20T20:30:00+00:00
+template = "docs/section.html"
+sort_by = "weight"
+weight = 1
+draft = false
+
+[extra]
+document_version = "1.0"
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content/integrations/_index.md

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+title = "Integrations"
+description = "Documentation for integrations with BlueOS."
+date = 2024-05-09T16:55:00+10:00
+template = "docs/section.html"
+sort_by = "weight"
+weight = 20
+draft = false
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content/integrations/hardware/_index.md

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+title = "Hardware"
+description = "Hardware documentation."
+date = 2022-10-04T01:21:30+10:00
+updated = 2022-10-04T22:00:00+10:00
+sort_by = "weight"
+weight = 2
+template = "docs/overview-section.html"
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content/integrations/hardware/additional/_index.md

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+title = "Additional Components and Peripheral Devices"
+description = "Useful hardware for an underwater ROV."
+date = 2022-10-11T07:00:00+10:00
+template = "docs/section.html"
+sort_by = "weight"
+weight = 3
+draft = false
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content/integrations/hardware/additional/acoustic-modems/index.md

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+title = "Acoustic Modems"
+description = "Provides low bandwidth underwater remote communication. Can be used with autonomous vehicles or untethered devices/sensors, or as a short term emergency backup if the vehicle tether gets severed."
+date = 2022-10-11T17:33:19+11:00
+template = "docs/page.html"
+sort_by = "weight"
+weight = 50
+draft = false
+[extra]
+lead = ""
+toc = true
+top = false
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+
+Acoustic modems enable wireless data transmission through water. With two omni-directional transceivers, bidirectional communication is possible. 
+
+In theory it is possible to use acoustic modems for wireless synchronisation of an autonomous swarm of underwater vehicles.
+
+## Supported Acoustic Modems
+
+The following acoustic modems have been tested:
+
+- [Water Linked Modem M64](https://store.waterlinked.com/product/modem-m64/)

content/integrations/hardware/additional/electrical-switch/index.md

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+title = "Electrical Switch"
+description = "Allows turning a circuit on/off inside an enclosure without needing to open it. Can be used for arming safety, or for disconnecting power to the control electronics to reduce idle power usage."
+date = 2023-03-10T01:20:00+11:00
+template = "docs/page.html"
+sort_by = "weight"
+weight = 30
+draft = false
+[extra]
+lead = ""
+toc = true
+top = false
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+
+A depth-rated electrical switch allows turning a circuit in an enclosure on and off from outside the enclosure. It can be used
+* to prevent unintentional arming of the vehicle
+* for disconnecting power to the control electronics to reduce idle power usage
+* for sending a signal to the electronics (e.g. to activate a programming / communication mode)
+
+{{ easy_image(src="switch", width=300) }}
+
+## Supported Electrical Switches
+
+* [Blue Robotics Switch](https://bluerobotics.com/store/comm-control-power/switch/switch-10-5a-r1/)
+
+## Other Known Switch Types
+
+* Reed Switch
+   * The switch component sits on the inside of the enclosure wall / end cap, and a magnet can be put on or removed from the other side to open/close the switch circuit

content/integrations/hardware/additional/electronic-switches/index.md

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+title = "Electronic Switches (Relays and MOSFETs)"
+description = "Enables the autopilot and/or onboard computer to control higher voltage (>5V DC) and high power circuits via software."
+date = 2023-03-10T01:10:00+11:00
+template = "docs/page.html"
+sort_by = "weight"
+weight = 35
+draft = false
+[extra]
+lead = ""
+toc = true
+top = false
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+
+
+Electronic switches are useful for turning higher voltage (>5V DC) / high power auxiliary equipment on and off via digital outputs on the [flight controller board](../../required/flight-controller/). Most commonly they use relay or MOSFET components.
+
+Up to four electronic switches can be operated via the "relay" joystick button functions when connected to the appropriate signal outputs.
+
+Most flight controllers cannot provide power to the output rail to trigger the relays, so a [5V power supply](https://bluerobotics.com/store/comm-control-power/elec-packages/bec-5v6a-r1/) will generally need to be connected to the AUX power connector (if it exists), or to the power pin on one of the outputs.

content/integrations/hardware/additional/ethernet-switch/index.md

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+title = "Ethernet (Network) Switch"
+description = "Provides ethernet-based expandability without loading the onboard computer, including simple interfacing with IP cameras and other sensors that have an ethernet interface."
+date = 2022-10-11T17:33:19+11:00
+template = "docs/page.html"
+sort_by = "weight"
+weight = 25
+draft = false
+[extra]
+lead = ""
+toc = true
+top = false
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+
+An Ethernet Switch (sometimes called a Network Switch) allows connecting multiple Ethernet-based connections to the same network. It allows IP cameras, imaging sonars, and other sensors and actuators to communicate directly over the tether without needing to go via the Onboard Computer.
+
+{{ easy_image(src="ethswitch-usage", width=500) }}
+
+## Supported Ethernet Switches
+
+* [Blue Robotics Ethernet Switch](https://bluerobotics.com/store/comm-control-power/tether-interface/ethswitch/)

content/integrations/hardware/additional/grippers-manipulators/index.md

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+title = "Grippers and Manipulators"
+description = "A gripper is a useful tool for picking up small objects, attaching recovery lines, or freeing a snagged tether. Other manipulators may be useful in cleaning, inspection, or repair tasks."
+date = 2022-10-11T17:33:19+11:00
+template = "docs/page.html"
+sort_by = "weight"
+weight = 40
+draft = false
+[extra]
+lead = ""
+toc = true
+top = false
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+
+A gripper is a useful tool for picking up small objects, attaching recovery lines, or freeing a snagged tether. Other manipulators may be useful in cleaning, inspection, or repair tasks.
+
+Ardusub has the ability to natively control grippers through assigning joystick buttons and servo outputs for grippers that use Pulse Width Modulation (PWM) for control. Depending on the control circuitry, this may include momentary open/close actions, or precise position control.
+
+Other grippers often have their own control software and interface for assigning control functions. Grippers which use RS485 for control can use a spare twisted wire pair in the tether for data transmission, whereas grippers with RS232 control require custom software on the [Companion Computer](/introduction/hardware-options/required-hardware/companion-computer.md).
+
+## Supported Grippers and Manipulators
+
+{{ easy_image(src="gripper", width=500) }}
+
+The following grippers have been used on ArduSub vehicles:
+
+* [Blue Robotics Newton Subsea Gripper](https://bluerobotics.com/store/rov/bluerov2-accessories/newton-gripper-asm-r2-rp/) (PWM output from autopilot)
+* [Blueprint Lab Series Grippers](https://blueprintlab.com/products/grabbers/) (RS485 through the tether)

content/integrations/hardware/additional/indicators/index.md

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+title = "Indicator Lights"
+description = "Used to provide visual indications of electronics and/or software status and errors, especially with opaque enclosures."
+date = 2022-10-11T17:33:19+11:00
+template = "docs/page.html"
+sort_by = "weight"
+weight = 45
+draft = false
+[extra]
+lead = ""
+toc = true
+top = false
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+
+Depth-rated indicator lights can provide visual indications of the status of electronics (e.g. when diving), the location of a device, or can be used as a light display (for visual appeal, or to attract marine life for study).
+
+## Supported Indicator Lights
+
+* [Blue Robotics Subsea LED Indicator](https://bluerobotics.com/store/thrusters/lights/indicator10-asm-r1/)

content/integrations/hardware/additional/leak-sensors/index.md

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+title = "Leak Sensors"
+description = "Detect and provide warning if a leak occurs, before it gets to and damages the electronics in an enclosure."
+date = 2022-10-11T17:33:19+11:00
+template = "docs/page.html"
+sort_by = "weight"
+weight = 0
+draft = false
+[extra]
+lead = ""
+toc = true
+top = false
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+
+Leak sensors are an important addition for saving an electronics enclosure should a leak occur.
+
+ArduSub can be configured to read leak sensors through auxiliary servo pins on a Pixhawk when set to GPIO mode, and the dedicated leak pins on a Navigator. A failsafe action can be configured to either send a warning or automatically surface the vehicle when a leak is detected.
+
+## Supported Sensors
+
+{{ easy_image(src="leak-sensor", width=200) }}
+
+The following sensor products are supported:
+
+* [Blue Robotics SOS Leak Sensor](https://bluerobotics.com/store/sensors-sonars-cameras/leak-sensor/sos-leak-sensor/)

content/integrations/hardware/additional/other-sensors/index.md

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+title = "Other Sensors (Temperature, Salinity, Thickness, etc)"
+description = "Can be helpful for research, or estimating related phenomena (e.g. sound speed for sonar and acoustic positioning performance)."
+date = 2023-03-15T20:00:00+10:00
+template = "docs/page.html"
+sort_by = "weight"
+weight = 15
+draft = false
+[extra]
+lead = ""
+toc = true
+top = false
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+
+A variety of other sensors types can be useful in a marine environment, for research and/or to measure phenomena that improve the accuracy of other sensors and vehicle control. Sensors that may be of interest include
+
+- [conductivity](https://discuss.bluerobotics.com/t/using-conductivity-sensor-with-brs-flight-controller-and-qgc/13126)
+- hydrophones
+- [O2, salinity](https://discuss.bluerobotics.com/t/o2-and-salinity-sensors/2569)
+- [pH](https://discuss.bluerobotics.com/t/ph-sensor-recommendations/13197)
+- [sediment and water samplers](https://discuss.bluerobotics.com/t/water-sampler-sediment-sampler/2712)
+- temperature
+- [ultrasonic thickness gauge](https://discuss.bluerobotics.com/t/cygnus-ultrasonic-thickness-gage/2967)
+
+## Temperature Sensor
+
+An auxiliary external temperature sensor may be added for obtaining faster and more accurate readings than those from an integrated pressure sensor. Duplicate sensors are not supported (e.g. two of the same temperature sensor at different locations on the vehicle).
+
+ArduSub has a pre-installed driver for the following sensor type:
+
+* [Measurement Specialties TSYS01](https://www.te.com/commerce/DocumentDelivery/DDEController?Action=showdoc&DocId=Data+Sheet%7FTSYS01%7FA%7Fpdf%7FEnglish%7FENG_DS_TSYS01_A.pdf%7FG-NICO-018)
+
+
+## Supported Sensor Products
+
+{{ easy_image(src="celsius", width=350) }}
+
+The following sensor products may be directly connected to an [autopilot](../../required/flight-controller-boards/):
+* [Celsius Fast-Response, ±0.1°C Temperature Sensor (I2C)](https://bluerobotics.com/store/sensors-sonars-cameras/sensors/celsius-sensor-r1/)
+* [PCB for Celsius Fast-Response, ±0.1°C Temperature Sensor](https://bluerobotics.com/store/sensors-sonars-cameras/sensors/celsius-sensor-pcb-r1/)

content/integrations/hardware/additional/positioning-sensors/index.md

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+title = "Positioning Sensors (GPS / DVL)"
+description = "Allows waypoint and target-based navigation, position holding, and location-tagged data collection."
+date = 2022-10-11T17:33:19+11:00
+template = "docs/page.html"
+sort_by = "weight"
+weight = 10
+draft = false
+[extra]
+lead = ""
+toc = true
+top = false
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+
+A positioning system is a useful addition to an ArduSub vehicle either for displaying numerical location coordinates or the position of the vehicle on a map in QGroundControl. 
+
+Below is an example of a Water Linked Underwater GPS System being used to locate a shipwreck:
+
+<iframe frameborder="0" width=640 height=360 allow="autoplay" src="https://www.youtube.com/embed/NpAClMNhno0"></iframe>
+<br><br>
+
+{% note() %}
+The [autopilot](/introduction/hardware-options/required-hardware/autopilot.md) has the capability of utilizing an external positioning system to perform autonomous maneuvers like station keeping, 'click to go here', transects, and pre-planned waypoint missions, however this is IN DEVELOPMENT.
+{% end %}
+
+## GPS Module
+
+ArduSub maintains the same [GPS module drivers](https://ardupilot.org/copter/docs/common-positioning-landing-page.html) as the rest of the ArduPilot family of firmwares, so a compatible GPS module may be directly connected to the GPS port on the autopilot. Positioning information will only be available when the vehicle is on the surface and the module is out of the water. The module will not be able to obtain a fix if it is underwater due to high frequency radio waves being unable to penetrate the water medium.
+
+Acoustic positioning systems are the only reliable way of providing positioning information underwater.
+
+## SBL Positioning Systems
+
+A [short baseline (SBL) acoustic positioning system](https://en.wikipedia.org/wiki/Short_baseline_acoustic_positioning_system) uses an acoustic transmitter on the vehicle to transmit timed acoustic pulses. These pulses are received by a series of multiple receivers on the surface in an arranged geometric pattern. The ["time of flight"](https://en.wikipedia.org/wiki/Time_of_flight) is calculated to when each receiver records the acoustic pulse and then a consolidated position for the underwater vehicle can be plotted.
+
+SBL systems can produce better positioning accuracy in highly reflective environments due to the adjustable receiver locations.
+
+{{ easy_image(src="SBL-WL", width=500) }}
+<sup style="color:grey;">Image Credit: Water Linked</sup>
+
+### Supported SBL Systems
+
+* [Water Linked Underwater GPS Explorer Kit](https://store.waterlinked.com/underwater-gps/)
+
+## USBL Positioning Systems
+
+An [ultra-short baseline acoustic positioning system](https://en.wikipedia.org/wiki/Ultra-short_baseline) is similar to SBL system where an acoustic pulse is transmitted from a tranciever on the vehicle and then recieved by a receiver on the surface. Instead of simply calculating time of flight, range and bearing are calculated by USBLs.
+
+USBLs are more compact than SBL systems where the receiver's transducers are fixed in one tranciever head.
+
+{{ easy_image(src="USBL-CS", width=500) }}
+<sup style="color:grey;">Image Credit: Cerulean Sonar</sup>
+
+### Supported USBL Systems
+
+* [Cerulean Sonar ROV Locator](https://ceruleansonar.com/products/rovl-mkii?variant=39414929915970)
+
+## DVL Positioning Systems
+
+A [doppler velocity log](https://en.wikipedia.org/wiki/Acoustic_Doppler_current_profiler#Bottom_tracking) sends multiple acoustic pulses in different directions, and measures the frequency change (doppler shift) from the transmitted pulses to estimate velocity of the vehicle relative to the bottom. Combining the velocity estimate with measurements from the accelerometers, compass, and gyroscopes in the onboard inertial measurement unit (IMU), the vehicle's orientation and relative position can be estimated via dead-reckoning. If the time of flight of the pulses is measured, it is also possible to estimate vehicle altitude above the bottom, similar to an [altimeter](../sonars/#echosounders-and-altimeters).
+
+{{ easy_image(src="WL-DVL", height=300) }}
+<sup style="color:grey;">Image Credit: Water Linked</sup>
+
+DVLs do not require external acoustic hardware or infrastructure, so are better suited to long distance autonomous missions than an SBL or USBL system.
+
+The relative positioning estimates from a DVL system mean the estimate is prone to drift over time. Accurate long term positioning requires occasional corrections from an absolute positioning system (like a GPS Module at the surface).
+
+### Supported DVL Systems
+
+* [Water Linked DVL-A50](https://store.waterlinked.com/product/dvl-a50/?hsCtaTracking=b79feacb-c824-4524-b3e0-2f6513163a7f%7C44cc28cf-75a8-4e25-ac64-ee6bc3e9e5e8)
+* [Cerulean Sonar DVL-75](https://ceruleansonar.com/products/dvl-75?variant=32632308760642)
+* [Teledyne Wayfinder](http://www.teledynemarine.com/Wayfinder)
+
+There is a comparison of some common DVLs in [this forum comment](https://discuss.bluerobotics.com/t/dvl-recommendations/10775/2#comparisons-1).

content/integrations/hardware/additional/servos/index.md

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+title = "Servos"
+description = "Useful when a component needs to be actuated or rotated. They can be inside an enclosure to rotate cameras, or depth-rated and used outside of enclosures."
+date = 2022-10-11T17:33:19+11:00
+template = "docs/page.html"
+sort_by = "weight"
+weight = 20
+draft = false
+[extra]
+lead = ""
+toc = true
+top = false
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+
+
+Servos are a useful addition to any underwater vehicle build where a component needs to be actuated or rotated. Normal servos can be installed inside the watertight enclosures to rotate things such as cameras. Depth rated servos can be used outside of enclosures.
+
+Up to three servos can be operated via joystick button functions when connected to the appropriate signal output.
+
+Most autopilots cannot provide power to the servos so a 5V power supply will need to be connected to the output signal rail.
+
+## Supported Servos
+
+ArduSub supports either analog or digital PWM controlled servos. The following have been tested:
+
+* [Hitec HS-5055MG Servo](https://hitecrcd.com/products/servos/micro-and-mini-servos/digital-micro-and-mini-servos/hs-5055mg-economy-metal-gear-feather-servo/product) (used in the Blue Robotics [Camera Tilt System](https://bluerobotics.com/store/sensors-sonars-cameras/cameras/camera-tilt-mount/))
+* [Blue Trail Engineering Waterproof Servo SER-110X](https://www.bluetrailengineering.com/product-page/100-m-underwater-servo-with-low-profile-bulkhead-connector)