** Part of the Robot Boat Pioneers project **
Each boat (or other device) is based on a custom ESP32-based motherboard running our DroneNode firmware. The firmware exposes a number of sensors, actuators, telemetry interfaces and control modules that can be configured for any given boat (device) through a simple config file. To keep software modules loosely coupled, they communicate using a pub/sub messaging model.
See this article for more information: https://robotboatpioneers.blogspot.com/2023/01/dronenode-modules-and-loosely-coupled.html
Requires Platform.io. Tested on Mac, Windows and Linux. Intended for an ESP32 DevKit v1 in combination with a DroneLink motherboard.