Under Development

This page is home to ongoing development projects for future versions, features and add-ons of OpenROV. It's meant to be a collaborative forum for small groups to work on projects of interest.

OpenROV Beaglebone Cape (Future Revisions)
{| style="background-color: #ffffff;" width="95%"
 * style="width: 50%; background-color: white;"| There are a number of new features and bug fixes for the next revision of the cape. For now, we're tracking those issues on Github.
 * style="width: 50%; background-color: white;"| There are a number of new features and bug fixes for the next revision of the cape. For now, we're tracking those issues on Github.

OpenROV Cape (Adapted to Rasberry Pi)
{| style="background-color: #ffffff;" width="95%"
 * style="width: 50%; background-color: white;"| A number of members of the community are working to integrate the Rasberry Pi into the OpenROV.
 * style="width: 50%; background-color: white;"| A number of members of the community are working to integrate the Rasberry Pi into the OpenROV.

Links to discussion on the forums about this:
 * Ras Pi Sandwich
 * Ras Pi Fork disccussion
 * OpenRov on Archlinux on Ras-Pi

Battery Upgrade (IN-PROGRESS)
We're trying to move to using rechargeable batteries. Currently, we're working on lithium chemistries in a C form factor.

The current design of battery packs will fit 6 of these batteries (3 in each pack) and the total voltage is 21.6 (3.6 each). Our cape design is meant to buck down (switch down) an input power up to 36V and provide the 5V needed for the Beagle Bone and the Cape.
 * Power System Redesign

Sensing (OPEN)
Knowing where you are and where you are heading is very handy for ROVs, so we are looking into adding additional sensors to aid in localization and attitude estimation. Sensors being considered: compass (single or multi-axis magnetometer), gyroscope, pressure transducer, acoustic positioning.
 * Sensors

Streaming Video (OPEN)
The current camera setup uses a lot of the BeagleBone's CPU and tether bandwidth. We're investigating other stream options.
 * Streaming Video

Software
Software bugs and feature requests are tracked on Github:
 * openrov-software Issues

Current Software architecture
Description of the current :Sofware Architecture

Software Rearchitecture
The software is currently difficult to read and modify, even for the developers familiar with it. Also, there's a tension between whether software and intelligence should live in the Arduino code and which in the Javascript code on the BeagleBone.
 * Software Rearchitecture

Detachable Tether
Currently the tether is physically attached to the OpenROV. A detachable tether would enable easier tether transportation, the use of different length tethers, and easier detanglement (because it happens).

Links to discussion on the forums about this:
 * Waterproof connectors

Thruster Layout
We are looking at other thruster layouts that will enable the OpenROV to move laterally, so that it can maneuver and stabilize itself in cross currents. There has been discussion about possible means of implementing lateral thrust in the forums.

Pressure Testing (IN-PROGRESS)
The OpenROV is currently designed to reach depths of ~100m, but the depth rating hasn't been validated yet. So we're looking into conducting a full pressure test to see how deep the OpenROV platform can actually go!:
 * Depth testing

Robotic Arm
Links to discussion on the forums:
 * Robotic arm

Water Sampler
Links to discussion on the forums:
 * water sampler

Development Template
When adding a new development topic or experiment, please use the template below. Edit that page, copy the wiki text, and add it to your new page to start. This will make reviewing progress across different experiments more consistent.