Installation on BlueBoat

Additional Hardware Required

• Ethernet Switch

  • The BlueBoat does not have an additional Ethernet port available by default, so an Ethernet switch must be added.

    • Easiest solution: Blue Robotics 5 Port switch

      • Conveniently shares a footprint and bolt pattern with the BlueBoat's fuse block for easy installation. Plug and Play with Cerulean Sonars.

    • Low-cost alternatives:

      • Tenda SG105 (plastic case can be removed to make it even smaller)

        • The wall transformer can be cut off, and the power wires can be connected to the BlueBoat's power terminals.

      • Murex Robotics Switch

        • This is a DIY option, it is not a purchasable product.

Mounting

A free 3D printable mount is available for the BlueBoat here.

Printables

The BlueBoat's conical mount bushings can be used on the outboard side of the hull, or you can install additional payloads. An Omniscan 450 SS can share mounting holes with the Surveyor for simultaneous imaging and bathymetry!

Software Setup

If using QGroundControl, it needs to be configured to allow the vehicle to control message rates. If this step is not done, QGroundControl will override the vehicle's message rates and dramatically reduce the quality of your data!

Step 1: Click the "Q" button in the top left, then click "Application Settings".

Click "Mavlink" on the left side, then enable "All Streams Controlled By Vehicle Settings". Restart QGroundControl now.

Step 2: Increase Ardusub message rates. In QGroundControl, click the "Q" icon in the top left and select "Vehicle Setup".

Step 3: On the left side, select "Parameters". In the search box, type "sr0". Set SR0_POSITION and SR0_EXTRA1 to 50hz. If necessary, use "Force save" to set these values. Reboot the vehicle now.

SonarView

Install the SonarView BlueOS Extension from within the BlueOS Extension Store.

The SonarView BlueOS Extension is recommended when using sonars on a BlueBoat for a few key reasons:

• SonarView's server always has a solid connection to the sonar. Packets are never dropped, even if you lose communications with the boat.

• Your telemety radio's bandwidth will not be used for raw sonar data, leaving more bandwidth for piloting, which will increase the usable range of the boat.

• Your settings will be preserved across different computers or mobile devices

• Remote access to sonars over the internet is possible in this configuration