Jack Edwards Arduino Based Sailboat Autopilot #1

[@SVSeeker]

Sweet. Well done, and documented. Give us a year more building to do and we'll want version 2.0

[@ProjectManaia]

why am I not surprised to see you on this :D How is your autopilot build going now? Just starting over here...

[@egagarces9113]

Deberías tener 200 millones de likes, pero estamos en un mundo de trivialidades. ¡Felicitaciones! 👍👍👍👍👍👍👍👍👍👍👍👍👍👍👍👍👍👍👍👍👍🇵🇪🇵🇪👍👍👍👍👍👍👍👍👍👍👍👍👍👍👍👍👍👍👍👍👍

[@jasonstrong4610]

Thanx so much for reminding me about what you can do with off the shelf parts, great job!

[@CapnZman]

I have an old Autohelm 2000 tillerpilot and I anticipate that the old electronics will give out at some point. I would like to build or buy a control unit with a 12 volt motor controller to move the ram. Question: why not add GPS course as an option? I mean the GPS HDG not tracking to a waypoint. This would be able to be steered with a remote incrementally just like using MAG HDG. I understand that this mode would require the vessel to be underway to establish a valid gps heading but otherwise, why not? Raymarine had an expensive A/P that used two gps sensors located a fair distance apart to provide static heading but I wouldn't require this refinement since I know when I'm moving. Usually.

[@PaulRowntree]

Very nice Jack. I have built a simpler one with a screwdrive moving the tiller based on GPS alone and a ComFile CB220 chip. How does your system handle following seas? I was thinking of adding a second (faster) PID from a compass that would try to correct for orientation slewing... any thoughts?

[@LimestoneCoastCustoms]

WoW! I wish I had found this a ages ago, Well Done! I'm looking to build an autosteer (not an auto pilot) but because all of my research is pointed towards AgOpenGPS & I am already running Oxiexplorer mapping for the setting out of our annual event, it's not really suited. I already have NMEA 0183 autopilot output from the Oziexplorer so I figured I should be able to rig up a temporary steering motor for the infield use (& of course disconnect it for normal road use) I would have thought a simple motor & controller like what is used in AgOpenGPS on tractors, that I could 3D print that & then use the output strings from Oziexplorer, it "should" be fairly simple to do don't you think??

[@jackedwards1337]

Should work, probably need a heading sensor.

[@MichaelLloyd]

I love the Arduino but I can never think of what to do with it. Very nice!

[@jackedwardsprojects1188]

Sometimes we pursue things for joy. A lot of art is about the process and not the end product.

[@MichaelLloyd]

Jack Edwards Projects True - My version of that looks like this: wildlightimagingstudio.com/

[@lakesidebc]

Just came across this, very awesome project. Well done! I'll be in touch.

[@hbrookes]

man, you are a genius...wish i had your engineering skills!!

[@drawingboard82]

Jack, Please can you advise what mathematics you used (If any) to smooth out the incoming direction signal from the compass? I am guessing the compass is going to be bouncing around a fair bit as the boat moves. Do you use a low pass filter or something more sophisticated? You mentioned a Dynamic Model? I am happy that I can build the electronics and write code, but it would really help if you could advise on any maths tricks you used to tune the response. Best wishes and a happy new year!

[@jackedwards1337]

Hello DB82, I don't average the compass readings. I do use a user adjustable steering dead band of 2 degrees and also use a rudder speed proportional to compass error so the rudder does not move much and the compass noise is not an issue.

[@drawingboard82]

Jack Edwards many thanks. that gives me the confidence to go ahead. Happy new year. :-)

[@BRAlternative]

Jack, this is beautiful! I am looking for for a control to my Neco 692 unit on a Trintella 44. Still new to Arduino but with some electronics notion. Let's see how I go.

[@brettkramer]

Really cool project, love stuff like this, thank you for posting.

[@sethalump]

Well done sir! Did you ever consider using one of the 'off the shelf' arduino based auto pilots used by the R/C aircraft crowd? Seems like it could be easily adapted to what you're doing. 3D Robotics is a popular vendor.

[@jackedwardsprojects1188]

sethalump I looked into using Ardupilot and Arduboat. At the time, to enter GPS waypoints you had to type them in and upload them. I wanted a system that would use a standard chartplotter or navigation program running on a laptop that would allow you to draw waypoints with a mouse on a map.

[@milolouis]

Very Nice, just cant believe you've done all that work and then put it in a cardboard box.

[@jackedwardsprojects1188]

Just haven't got around to making an enclosure yet. The cardboard box is below decks and a remote controller (Shown in the video) is used in the cockpit.

[@chrisblakeslee8704]

Ever since my autohelm broke, as they often do... I can't believe how expensive a decent autopilot system is while my iphone has 100 times the computing power of anything raymarine has... I'm going to start this project right away! Did you ever consider using a worm-screw drive vs a hydraulic system?

[@jackedwardsprojects1188]

Chris Blakeslee

[@jackedwardsprojects1188]

Jack Edwards Projects Chris one of the people using this project is using it on his schooner that has an old Edson worm screw drive. He got a Raymarine rotary drive and hooked it up with a chain drive and then used this Arduino system to operate it.

[@janolesen6045]

I'm looking for a hydraulic actuator/pump for a similar project, where to source those when on a budget?

[@jackedwards1337]

Jan, I have been out sailing and just got your comment. I have not found an inexpensive hydraulic pump and ram. Some have found used units. One person was very successful using a windshield wiper motor and worm drive with bicycle chain and sprockets. If you find something I would love to hear about it.

[@tonyreale124]

A very interesting project. Are the schematics, and software available. This looks like a suitable project for my Mac 26. TonyR

[@jackedwardsprojects1188]

Tony Reale Tony, please send me an email to [e-mail]

[@Travellerwiz]

This is really phenominal.. You really should consider turning this into a true Opensource hardware project. Create a website with schematics, files and parts list. You will be shocked at the suggestions and updates you get from the "Hive Mind" once its easily available. Let me know if you want some help, I could donate website space.

[@richardvansoest]

Nicely done!! i was thinking doing the same but use an android phone as the logic controller and the arduino as interface to the motors (my goal is simple at first, to steer to a set compass heading on great lake (i have a smal motor boat)

[@manfredklaes5951]

Hello, I'am sailing a Westery Pentland and on board is the Autopilot "Autohelm 3000" defect. The engine unit is still ok, the electronic control is defect. I like your solution with the Ardunio. Is it possibil that I can get the circuit diagram and the program for the Ardunio? Thank you for a short info.

[@jackedwardsprojects1188]

Manfred, I will be glad to send you information I have not established a Github place yet so please send me your email address to [e-mail]

[@samualwhittemore228]

Very nice! you put my automatic chicken door and 3 phase generator regulator to shame. Ha Ha!!! Great job my friend!

[@cobrajetocc6156]

Hey, does your wife told you "You're my genius Man !" ? Veeeery interesting Arduino project I have ever seen..

[@ilanarbelf]

Ilan Arbel 1 second ago Hi. The solution presented in the video is beautiful.

[@rvisokey]

Nice job. The box makes it 'home-brew' worthy. I wonder why you used two Arduinos. Where there not enough pins on a single unit to do everything?

[@jackedwardsprojects1188]

The Reason I have two Arduinos is not the availability of pins but the cycle time of the GPS. It cycles once a second. The compass and all other control cycle 50 times a second. The GPS just slowed everything down too much. One Arduino Mega processes GPS once a second. The main Mega reads it once a second with Bill Porter's "Easy Transfer" library, but the transfer only takes a few milliseconds so it doesn't bog down the main. Parallel processing.

[@bit2shift]

As I've seen the documentation file, the GPS module uses RS232 @ 4800 baud, TTL The Arduino Mega 2560 I/O ports are all TTL, so there is no need for level converters. TTL (Transistor-Transistor Logic) operates with a 5V power supply. If the GPS module outputs data by itself every second, you could just poll the serial data, when available, and store it to a global variable (connecting the GPS module to the Serial1 port, for example). This way, it would not affect the 50Hz requirement for the main control, since the Serial library is asynchronous. An example code snippet: byte controlTimer = 0; //the rest of global variables void setup() { Serial1.begin(4800); //the rest of setup code } void loop() { if(Serial1.available()) { //read and store GPS data //the autopilot code will work over this data } //this will always trigger if controlTimer is 19 before if(++controlTimer == 20) { controlTimer = 0; //do the autopilot thing with the GPS data } delay(1); //1 millisecond step }

[@rvisokey]

Danilo Duarte Danilo beat me to it. Not that you should as your setup obviously works fine but you can do what Danilo mentioned above and have 1 less component.

[@ciansweeney5206]

Hi Jack, you can process these asynchronously with a single arduino. I have GPS at 10hz (with line crossing math), gyroscope at 10hz, serial communication at 1hz, bluetooth, various other input/output checking on a Mega without issue. reference www.arduino.cc/en/Tutorial/BlinkWithoutDelay I use Adafruit_GPS library which is interrupt driven, whenever there is new data in the buffer it will grab and parse it to some user variables for you. There shouldn't be any time the code is waiting. Also configurable between 10hz and 1hz NMEA output.

[@3gwheeler]

That is awesome! Do you have the schematic on this project? Parts list? I would love to try this out.

[@jackedwardsprojects1188]

George Be glad to send you the project files, please send your email address to me at [e-mail]

[@КапитанСайга]

@@jackedwardsprojects1188 AND ME PLEASE!!!! [e-mail] please!!

[@Eurus721]

Ok. I just can't seem to get past the 360 to zero degree math. I know which way to turn and by how much but I can't seem to put that into programming. I tried converting all True to Relative and think I have it then see it wanting to turn left from 200 to 260 degrees. Leaving for the trip in January. Hope to resolve it by then.

[@BechirSeven]

WHY DONT YOU THINK ABOUT AUTOPILOT WITH RASPBERRY PI

[@cvo6054]

I would really love to build this. Looking for a affordable way to get tiller selfsteering on my 10 meter sailboat with a 10 tonnes displacement..

[@jackedwards1337]

Hi Cedric, Glad to help you, if you would send me your e-mail address I will send you the plans, documentation, wiring diagrams and the code. email to [e-mail]

[@Eurus721]

Think I got it now. Convert to relative snd work it from there seems to do it

[@Onlinelgstore]

Hey Jack are you still working on this project?

[@jackedwards1337]

Definitely, still working on this project and making improvements, currently adapting a touch screen and a faster processor.

[@per-olofmasgard7530]

when I se stuff like this i really wish i should have stayed in school. This is so cool..

[@jackedwardsprojects1188]

Per, Thank you for your comment. But don't let schooling stop you. Start Arduinoing with the Arduino web site or one of the Arduino learners kits, Have fun and learn.

[@per-olofmasgard7530]

I got so inspired by your project so now Im making plans for how to make a Cruise control for my old scania buss. =) Hopefully I will end up putting it out on youtube.

[@terraria103]

I was about to say my project was cool...

[@ismzaxxon]

Is code available. I am wanting to convert it to bascom avr and looking for formulas. I have an autohelm 4000st and looking to buil a replacement for my tiller drive on the yacht.

[@jackedwardsprojects1188]

Terry Peake Terry, If you will send me an email to [e-mail] i'll send you a link to my dropbox where the code is available. Jack

[@dialoguechicago]

+Jack Edwards Projects Would you be willing to share this on a public github.com repository? Would love to help with it if you don't mind it being open source. or even private shared repo. I'm starting my own arduino autopilot but using just the digital compass and a linear actuator for the tiller with built in potentiometer from progressiveautomations.com. Would love to share ideas and code. I'm really exited to build this for my 25' sailboat

[@jackedwards1337]

+ryan marshall Ryan, I have been thinking about putting it on github, but I guess I haven't gotten around to it. What do you suggest as a tutorial on getting that set up. I have my files in a dropbox folder and I share a link to that with people who want to get a copy of the code, schematics etc. One of the things I have enjoyed about doing it that way is usually ask people what their project and where they are. I have made acquaintances with people all over the world. Anyway your project looks good and the progressive actuators look very good for your application. If you would like a link to the code please send me an email. [e-mail] Regards, Jack

[@DavidGutierrezhi]

Whats call the system Collision Avoidance System

[@jackedwards1337]

That is still the job of the helmsman.

[@z4u68]

this seems like over kill, have you ever seen a auto pilot that works off the wind ,

[@rukerstatica]

Is it possible to have the plan in jpeg/png and the coding too. Or any link.

[@jackedwards1337]

Hi Rudy, Please write me at [e-mail] and I'll send you a link to my files that includes code, wiring diagrams and instructions.

[@jackedwards1337]

Rudy, Send me an email at [e-mail] and I will send you plans.

[@JoseSoto-wz2we]

Whats a good e mail to write to you?

[@clarayun3203]

You are the best! LOL!!