The ArduSub control system is made up of three major software components:
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ArduSub Autopilot Firmware: ArduSub firmware is the autopilot software responsible for processing pilot input and controlling the ROV. ArduSub is the 'brains' of the ROV.
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Companion Computer Software: Companion Computer software relays communications between the autopilot and QGroundControl via Ethernet communications. The Companion software also streams HD video to QGroundControl.
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QGroundControl Software: QGroundControl is the user interface for operating the ROV.
Here is a diagram of what software piece is loaded onto which hardware component and their basic connections:
Here is a technical block diagram of the main software components and their interactions:
{% include "software-components-miro-board.md" %}