Summary Introduction Overview Features Applications Hardware Options Connection Diagrams Required Hardware Autopilot Companion Computer Camera Electronic Speed Controls (ESCs) Thrusters Power Sensing Module Power Supply Tether Topside Computer Joystick Recommended Extras Pressure Sensor Camera Tilt Mount Lights Additional Peripheral Devices Leak Sensors Temperature Sensor Servos Relays Grippers and Manipulators Underwater Positioning and GPS (SBL and USBL) Sonars Required Software ArduSub Autopilot Firmware Companion Computer Software QGroundControl Software Quick Start Building a Vehicle Frame Installing QGroundControl Installing Companion Software Image Network Setup Software Update Installing Autopilot Firmware Frame Selection Completing Calibrations Formatting the SD Card First Dive Reference Documentation QGroundControl Main Toolbar Application Settings View Vehicle Setup View Plan View Fly View Recoding Video Analyze View Other Features Telemetry Text Overlay Recording ArduSub Vehicle Setup View Summary Page Joystick Setup Page Sensors Setup Page Power Setup Page Motors Setup Page Safety Setup Page (Failsafes) Tuning Setup Page Camera Mount Setup Page Lights Setup Page Frame Setup Page Parameters Page Features While in Operation Companion Web Interface Network System Camera Routing MAVProxy Git Water Linked Terminal Over Browser File System Access MAVLink REST API Data Logging Troubleshooting Vehicle Control No Telemetry No Video Poor Video Streaming Miscellaneous Developers RC Input and Output Full Parameter List Software Components OpenCV Pymavlink SITL GPS Positioning DVL Integration Wireless Topside Build ArduSub Build this Documentation Resources Community Downloads QGroundControl ArduSub Firmware Raspberry Pi Image Further Reading