Well we have already finished the board with the electronics, here you can see it:
![[Image: Autopilot.jpg]](https://i.postimg.cc/P5G8jT8s/Autopilot.jpg)
For the design of the plate, great care has been taken to avoid interference between the different elements mounted on the plate. When digital and analog processes are combined, including switching systems with different frequencies, in order to avoid that these generated signals are mixed and transferred from one system to another, which would provoke interferences, altering its operation, it is necessary to build filters that prevent this undesired communication. Also in the design of the copper tracks it is necessary to be careful especially with the ground
The first concept has been to separate the inputs from the outputs. The inputs are where the data from the sensors of the boat (wind sensor, GPS, sensor rudder position mainly and other sensors) and the output that are the management of the actuator. Both elctrical motor, hydraulic and clutch.
For that reason in the left part of the plate these inputs have been placed and in the right the outputs for the actuator.
The SeaTalk and N2K converters are integrated in the plate. The conversion will be done in all standards. That is to say if SeaTalk enters there will be output in NMEA183 and NMEA2000 (or N2K). If you enter both SeaTalk and NEMEA2000 as NMEA183, the software will multiplex it establishing the corresponding filters and hierarchies to avoid conflicts and redundancies.
Both the Bosch IMU BNO055 and the MPU9250 (the one used with OpenPlotter) can be mounted.
It will incorporate a WiFi module and a radiofrequency module.
The heart is the microprocessor STM32f105 or f405 with 8MHz clock.
The MosFet to handle the actuator can handle more than 100A, that is to say that the autopilot can be installed also in larger boats.
Now we are thinking about how we are going to connect the peripherals.
One of them is the IMU i.e. the one that generates the signals of compasses and gyroscopes and accelerometers. With it you will be able to read the course, and the movements of the boat. This data will serve to compensate the electronic compass on the one hand and to optimize the rudder response according to wind and sea state by means of artificial intelligence.
This sensor should be placed at the point closest to the CG and in the centre line. The connection could be made either by cable (the safest) or by radio frequency.
Another peripheral thought, is a Joystick to control the rudder remotely. In this case the same thing can be done by cable (the safest) or by radio frequency. In this last case it could be done with batteries and thus place it where it is needed.
At the request of a user in another forum, we have included an extra entry of NMEA183, to be able to read MOB sentences for example of an AIS
Autopilot specifications:
-Power supply from 11 to 30 volts.
-PWM power output for arm motor: up to 30A.
-PWM output for clutch: up to 2A.
-3A relay output for motor stop (MOB)
-Internal connection of up to 3 I2c sensors. (Or LCD screen)
-1 full duplex channel NMEA0183 up to 38400 baud.
1 NMEA183 input channel up to 38400 baud
-Seatalk1. Bidirectional.
-CAN BUS. (NMEA2000) bidirectional.
-WiFi module. For firmware updates.
-2.4Ghz radio module for remote control.
-Internal FRAM memory for configuration and navigation data.
-Analog inputs for rudder sensor and joystick.
SPI input for other types of ensores.
Anyway, I'm not going to overwhelm you anymore. There are two ideas or questions to see what you think.
For the design of the plate, great care has been taken to avoid interference between the different elements mounted on the plate. When digital and analog processes are combined, including switching systems with different frequencies, in order to avoid that these generated signals are mixed and transferred from one system to another, which would provoke interferences, altering its operation, it is necessary to build filters that prevent this undesired communication. Also in the design of the copper tracks it is necessary to be careful especially with the ground
The first concept has been to separate the inputs from the outputs. The inputs are where the data from the sensors of the boat (wind sensor, GPS, sensor rudder position mainly and other sensors) and the output that are the management of the actuator. Both elctrical motor, hydraulic and clutch.
For that reason in the left part of the plate these inputs have been placed and in the right the outputs for the actuator.
The SeaTalk and N2K converters are integrated in the plate. The conversion will be done in all standards. That is to say if SeaTalk enters there will be output in NMEA183 and NMEA2000 (or N2K). If you enter both SeaTalk and NEMEA2000 as NMEA183, the software will multiplex it establishing the corresponding filters and hierarchies to avoid conflicts and redundancies.
Both the Bosch IMU BNO055 and the MPU9250 (the one used with OpenPlotter) can be mounted.
It will incorporate a WiFi module and a radiofrequency module.
The heart is the microprocessor STM32f105 or f405 with 8MHz clock.
The MosFet to handle the actuator can handle more than 100A, that is to say that the autopilot can be installed also in larger boats.
Now we are thinking about how we are going to connect the peripherals.
One of them is the IMU i.e. the one that generates the signals of compasses and gyroscopes and accelerometers. With it you will be able to read the course, and the movements of the boat. This data will serve to compensate the electronic compass on the one hand and to optimize the rudder response according to wind and sea state by means of artificial intelligence.
This sensor should be placed at the point closest to the CG and in the centre line. The connection could be made either by cable (the safest) or by radio frequency.
Another peripheral thought, is a Joystick to control the rudder remotely. In this case the same thing can be done by cable (the safest) or by radio frequency. In this last case it could be done with batteries and thus place it where it is needed.
At the request of a user in another forum, we have included an extra entry of NMEA183, to be able to read MOB sentences for example of an AIS
Autopilot specifications:
-Power supply from 11 to 30 volts.
-PWM power output for arm motor: up to 30A.
-PWM output for clutch: up to 2A.
-3A relay output for motor stop (MOB)
-Internal connection of up to 3 I2c sensors. (Or LCD screen)
-1 full duplex channel NMEA0183 up to 38400 baud.
1 NMEA183 input channel up to 38400 baud
-Seatalk1. Bidirectional.
-CAN BUS. (NMEA2000) bidirectional.
-WiFi module. For firmware updates.
-2.4Ghz radio module for remote control.
-Internal FRAM memory for configuration and navigation data.
-Analog inputs for rudder sensor and joystick.
SPI input for other types of ensores.
Anyway, I'm not going to overwhelm you anymore. There are two ideas or questions to see what you think.