Hardware
Schematic
Main Components
Raspberry Pi Zero W
1GHz single-core CPU
512MB RAM
Low power consumption
Hologram Nova R410
75 Kb/s Upload/Download
USB 2.0 at 480 Mb/s
5V Power ; Active Mode: 9mA
Peak Tx of 490 mA
Blue Robotics T200 Thruster
Three phase brushless outrunner motor
Most popular underwater thruster in the world
Runs on 10 - 20V
Controlled by Blue Robotics basic speed controller which is connected to the microcontroller
BNO055 - Stemma QT 9-axis IMU
Accelerometer, gyroscope, and magnetometer combined to solve for 3D space orientation
ARM cortex M0 processor
I2C
Ultimate GPS Breakout
66 channel GPS module with 10Hz updates, -165dBm sensitivity
Built in antenna
20mA low power consumption during navigation
Monocrystalline Solar Panel Module w/ Solar Charge Controller
25W Corrosion Resistant Panel
20A Solar Charge Controller has +/- inputs for solar panel, connects to 12V sealed lead acid battery and load which connects to ESC and Thruster
Controller offers short-circuit, open-circuit, over-load, and reverse protection
