Auto Depth Plotting - Gumption Trap II

I mapped a section of this lake using my autonomous boat, Gumption Trap II. She runs a blue robotics ping2 depth sounder and uses GPS and compass data to follow a predetermined waypoint mission collecting depth data along the way. This project uses my own custom written basic flight controller code running on a Teensy 4.0. See my previous video about the project for details on the build and BOM.
Code: github.com/Cla...

[@RicardoBHubner]

Excelente serviço, estou aprendendo muito com seus vídeos. esses sistema de escaneamento seria muito útil aqui na região, brasil. aqui há muitos rios com pedras, só quem é da região conhece, porem ainda ocorre muitos acidentes.

[@beatvine]

Cool boat. I like the low profile of it minimizing wind drag forces. I have some ideas you might want to consider. Since you have bidirectional running motors, it might be simpler to just use differential thrust for steering. Less components to break and easier to control if you only need thing to tune one thing. Also what kind of gps receiver do you use? You can imrpove the accuracy of your boat with a f9p rtk receiver and a ntrip service to a few centimeters level of precision. It will help with navigation too. Cheap gps recievers can have an error of 5meters and having you actual location jump around isnt helpful.

[@Clay-Builds]

My first version of this boat used only differential thrust. I think the rudders are a more efficient way to make fine adjustments because it doesn’t need to constantly accelerate/decelerate the props, they just stay at a constant speed during the long straightaways. This gps is a cheap neo-6m, it doesn’t really jump around much. Precision is more important than accuracy for this.

[@beatvine]

@@Clay-Builds i agree that they are more efficient during straights but that shaft play must go 😆 but for 90 degree turns the diff thrust would be more effective. You could easily switch steering control if desired angle is larger than lets say 10 degrees either way. Also adding some type of fin keel on the hulls will help with horizontal drift.

[@SeanChYT]

RTK gps?

[@Clay-Builds]

It’s not RTK, just a cheap neo-6m. Maybe I’ll experiment with higher accuracy in the future.