Software Components

There are three major software components involved in the operation of ArduSub:

• ArduSub: ArduSub is the autopilot software responsible for processing pilot input and controlling the ROV. ArduSub is the 'brains' of the ROV.
• QGroundControl: QGroundControl is the user interface for operating the ROV.
• Companion: The Raspberry Pi Companion Computer runs software that relays communications between the autopilot and QGroundControl via Ethernet communications. The Companion software also streams HD video to QGroundControl.

Here is a typical diagram of the software components and their interactions:

Sponsored by Blue Robotics. Code released under the GPLv3 License. Documentation released under the CC-NC-SA 4.0.
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