Pi0Boat: a $250 Smart Aquatic Vehicle With the Pi Zero

A Linux-based smart aquatic vehicle.

Step 1: PROJECT INFO

Difficulty: Intermediate
Estimated time: 12 hours

Erle-Boat
Erle-Boat is a Linux-based smart aquatic vehicle that uses robotic frameworks such as ROS (the Robot Operating System) and the award winning APM software autopilot to achieve different navigation modes.
Erle-Boat is ideal for water operations.

Mechanical features

• Dimensions: 520 * 330 mm
• Weight: 770 grams fully assembled (battery included)

THINGS USED IN THIS PROJECT
Hardware components:
Erle Robotics PXFmini x1
Raspberry Pi Zero/W x1

Suggested parts:

• PXFmini with WiFi 802.11ac USB dongle, microUSB to USB adapter for WiFi, Flashed MicroSD, Power module (JST GH) and GPS (For PXFmini) [Optional / Improvement]
• Raspberry Pi Zero
• HobbyKing Pod Racer Boat 520mm
• Radio controller
• Battery

Step 2: Assembly

PXFmini Configuration
The PXFmini should be configured. Request the latest image for your PXFmini or acquire a flashed one with your order to Erle-Robotics.

Having the PXFmini you need to:

• Set as a Erle-Rover

The easy method is via HDMI with the Erle-Robotics User Interface

• Connect via network to APM

Connect via network to APM and Load Parameters for Erle-Boat

Step 3: PWM Inputs

The ESC should be connect to the motor and to the PXFmini's PWM #3. The Servo, need to be connected to the PWM #1
Everything in place
Ensure everything is in place. Check that the motor and servo can move free.

Step 4: Test

Be careful with the propeller. A suggestion is to make the first test with the Erle-Boat in a controlled area.