Blue ROV Electrical Interconnect Block Diagram 14 8

Blue. ROV Electrical Interconnect Block Diagram +14. 8 vdc I 2 C Expander XT 90 Compass XT 60 3 DR Power Module Power 5 vdc I 2 C Bat Pwr In XT 60 +14. 8 vdc XT 60 Pressure Enclosure XT 90 +14. 8 vdc Gnd Terminal Board GPS JSTXH 3 DR Pixhawk Autopilot Main Outputs See Sht. 3 …… 6 x…. . Rpi Power 5 vdc 1. 2 A micro USB Main ESC PWM Thruster Ctrl JSTXH Buz zer 3 DR u. Blox GPS with Compass Connect to aux. output, see Sht. 3 - or can connect to Pixhawk Power Module 5 v / Gnd pads see Sht. 5) JSTXH Micro USB 6600 m. Ah 4 s Lipo Battery 14. 8 vdc Blue. Robotics Pressure / Temp. Sensor Raspberry Pi 2 Model B Raspberry Pi Camera Board Buzzer (Optional) Ctrl / Data Ethernet Tether Basic 30 A ESC Sht 1 T 200 Thruster ESCs …… 6 x…. . Thrusters …… 6 x…. . Basic 30 A ESC T 200 Thruster Topside (Laptop) 20160318 Blue. ROV-Block-Diagram-20160318. pptx

Pi Data connects to Pixhawk via Micro. USB Pixhawk Overview Connect 3 DR Power Module Pigtail Here Connect here for Raspberry Pi 5 v power Connect ESCs Control 1 -6 Here Buzzer (Optional) 3 DR u. Blox GPS Ref: http: //copter. ardupilot. com/wiki/common-pixhawkoverview/ Sht 2 Connect I 2 C Expander Then connect u. Blox Compass and Blue. Robotics Depth Sensor to Expander

Pixhawk connector assignments Comms (to Rasp. Pi 2) Pwr Input (from module) Warning Buzzer (optional) Signal from GPS/Compass Connect I 2 c Expander which is connected to u. BLOX compass and Bluerobotics depth/temp. sensor Thruster ESCs - PWM Rasp. PI +5 v / - Gnd. Sht 3 Ref: http: //copter. ardupilot. com/wiki/common-pixhawkoverview/

3 DR UBlox GPS + Compass Module This page covers the installation of the 3 DR UBlox GPS + Compass module. Pressure Sensor 3 DR UBlox GPS + Compass I 2 c Exp Ref: http: //copter. ardupilot. com/wiki/common-installing-3 dr-ublox-gps-compass-module/ Sht 4

3 DR Power Module This page explains how to set up the 3 DR Power Module (PM) to measure battery voltage and current consumption. The information will also be useful for setting up other types of Power Module. XT 60 Connector 3 DR Power Module Connect Pixhawk Power Module 5 v / Gnd pads to Micro. USB for Rpi 5 v Power +5 vdc 3 DR Power Module. Reverse Side To Blue. ROV Terminal Board +/Gnd To Pixhawk Power Input Conn. Gnd Sht 5 Ref: http: //copter. ardupilot. com/wiki/common-3 dr-power-module/

Comments: • 1. The “safety sw” is currently disabled in our recommended • 2. I would recommend supplying power to the Raspberry Pi via one of the auxiliary outputs (shown on page 3 of your slides) • 3. If you are planning to use a pressure sensor for depth, you will need to use the I 2 C expander that comes with the Pix. Hawk to connect both the pressure sensor and GPS/compass. (Slide 4)