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For the BASV a pcb is designed to handle all the low level stuff (ADC, PWM RC servo pulsing, power measuring). This board uses a STM32F103ZET6 microcontroller and has a connector for a Raspberry Pi. The raspberry Pi can handle the navigation, collision avoidance using maps, logging and internet connection.

 

The microcontroller board has a lot different features. We are not sure if we are going to implement all these features but if we need them, we can.

  • Efficient DC-DC converters to feed the microcontroller board and the R-Pi
  • Switchable power to the Raspberry Pi so we can turn it off if we need to save energy
  • 4 RC servo connections with short circuit protection
  • 4 RC input channels
  • Current measurements on: battery input, +5V, +3V3, servo connections and for solar charging
  • Voltage measurement on the battery
  • XBEE socket (for example the XBee-PRO 868)
  • IMU consisting of gyro and accelerometers (MPU-6050) and magnetometer (Micromag3) to determine the heading and angle of heel
  • Barometric sensor (BMP085)
  • GPS input (LS20031)
  • Wind direction (Potentiometer, we build this more on it later)
  • Two switchable output channels
  • Two relay´s
  • Wind speed (No sensor found yet)
  • Sail position (No sensor found yet)
  • Spare analog input

The R-Pi is going to be used for the following

  • Navigation. Determine what the best course is to sail and check if we can get there using maps
  • Logging. Store the interesting data from the different sensors
  • Taking pictures/movies
  • Internet connection. Using an android phone we can get internet. (Still have to try this but it should be possible)

The android phone can also be used as a beacon if we ever lose BASV. A small program can run on there which sends its position using text messages.

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