ArduSub Controller Integration

Connect AQUA Stack to ArduSub autopilot via MAVLink.

MAVLink Connection

Serial Connection

mavlink:
  type: serial
  port: /dev/ttyACM0
  baud: 115200

UDP Connection

mavlink:
  type: udp
  address: 0.0.0.0
  port: 14550

Configuration

# Test MAVLink connection
mavproxy.py --master=/dev/ttyACM0 --baudrate 115200

# Configure AQUA Stack
aqua-config mavlink --port /dev/ttyACM0 --baud 115200

Command Interface

from aqua.mavlink import MAVLinkInterface

mav = MAVLinkInterface('/dev/ttyACM0')

# Arm vehicle
mav.arm()

# Set mode
mav.set_mode('GUIDED')

# Send velocity command
mav.send_velocity(vx=0.5, vy=0, vz=0, vyaw=0)

Safety Features

• Heartbeat monitoring
• Failsafe triggers
• Emergency stop
• Mode switching

Next: BlueROV2 Setup