AUV Control Board Documentation

AUV Control Board is a low-cost open-source motion controller for (Autonomous) Underwater Vehicles. It is designed for vehicles with fixed position thrusters and supports motion in 6 degrees of freedom.

There are currently two versions of control board. Neither version has more features than the other. Version 2 was developed to be able to use a different chip / board that was easier to get.

• Version 1 uses an Adafruit ItsyBitsy M4 (Microchip ATSAMD51 chip)
• Version 2 use a WeAct Studio Black Pill (STMicroelectronics STM32F4)

The firmware is capable of running on both versions.

License

Both the firmware and provided demo and interface scripts are licensed under the GNU General Public License version 3 or later (GPL-3.0-or-later). Note that the firmware includes third party components licensed under their own terms.