Boat Configuration

Boats can also be controlled with the standard Rover firmware. To specify that the vehicle is a boat the FRAME_CLASS parameter should be set to 2 (Boat).

The special features for Boats include:

• Boats appear as boats on the ground station

• Sailboat support

• Loiter mode for holding position

  • In Auto, Guided, RTL and SmartRTL modes the vehicle will attempt to maintain its position even after it reaches its destination

• Sea-level GPS filtering

  • Not intended for use in water bodies at elevation (e.g. lakes/rivers on mountains)

• Vectored Thrust can be enabled to improve steering response on boats which use the steering servo to aim the motors

• Underwater-rated motors

  • Blue Robotics thrusters

  • Torqeedo electric motors

• Underwater map generation

  • Echosounders for underwater mapping

  • ReefMaster for bathymetry