Capitania Project

Capitania is an Autonomous Autopilot

Capitania sensors/actuators are managed by Arduino.
Capitania Planner is based on Python, with a Real Time Queue engine, based to run on Raspberry Pi with ROS (Robotic Operative System)
Integration_v1 is the first version of the I/O board developed for Arduino.

MainBoard.

RaspberryPI 3+ using ROS (Robotic Operative System)
Telemetry. RF APC220 TX-RX, a full-duplex 100mW 966 Mhz telemetry long range device. RF APC220 TX-RX
ND-100 secondary GPS USB

Sensors. Created from a Arduino Nano (Work in progress to move to a MEGA)

Boat, actually is just the hardware need, a hull, a bulb, a sail

Windvane (AS5030), to get the wind direction, analog sensor >1.8*2 degrees of error. AS5030
GPS (SkyNav SKM53 DS), a regular GPS COM 9600bps, 40Channels. SkyNav SKM53 DS
SDCARD, Storage MicroSD device.
Compass, a classic HMC5883L (migrated soon to a tilt compensated one) using I2C interface.
9DOF replacing HCM5883L adding Barometric Sensor + Temperature
Volt Meter (Monitor Battery Status LiPO 3S 11.1v-12.60v 25C 2500mhA)
Current Meter (Less than 10A including actuators)

Actuators. Created from a Arduino Nano

i. Radio Control PPM Receiver ii. Status Led / LCD Matrix Display iii. Servo Rudder iv. Servo Sailwinch v. Serial Remote console. (not yet implemented)

References

http://ww1.microchip.com/downloads/en/DeviceDoc/Atmel-42735-8-bit-AVR-Microcontroller-ATmega328-328P_Datasheet.pdf http://www.brokking.net/rpas_main.html

hernancurras/captainia