Donphan: Electrical

The electrical system on Donphan consists of a Raspberry Pi, a thruster signal routing board, a buck converter, and a sensor suite, all powered by a single 14.8V, 10Ah LiPo battery. Its sensor suite includes an IMU, a barometer, and cameras. Donphan’s electrical system is extremely compact, as all of its data acquisition, processing, and decision making is done on a single Raspberry Pi, as compared to most systems which use intermediate microcontrollers for data collection. The movement controls system is a standard multi-PID control system, with separate PID gains for yaw, pitch, depth, and forward/backward distance.