This github repo contains the software for the FishPi POCV.

FishPi is an autonomous marine vessel being developed with the aim of crossing the Atlantic unaided. Currently a Proof-Of-Concept-Vehicle is being built and the software for it lies here. The FishPi will use the Raspberry Pi at its heart. For more info on the FishPi see http://fishpi.org/. The Proof-Of-Concept-Vehicle (POCV) is a small model sized craft demonstrating the principles needed for autonomous control of a marine surface vessel.

• v0.1 will support a manual UI mode, fly-by-wire control of motor and rudder, sensor readings (GPS, Compass, Gyro, Temperature) and camera control.
• v0.2 will support route planning, basic behaviours (course setting (heading and speed), waypoint following, path tracking), basic control algorithms (PID / adaptive linear model).
• v0.3 will support remote (web) UI mode, improved testing and calibration of control parameters, increased logging / diagnostics / playback.
• v0.4 will support further behaviours (path planning, loiter, manouver, obstacle avoidance), offline testing setup.

The FishPi software is being developed in Python (2.7) inline with the educational aims of the Raspberry Pi.

Start the software by running ./fishpi/fishpi.py.

Additional arguments supported include:

• --help: show this help message and exit
• --mode {inactive,manual,remote,auto}: operational mode to run
• --debug: increase debugging information output
• --version: show program's version number and exit

Top level package:

• 'fishpi'

Subpackages:

• 'sensor'
• 'perception'
• 'control'
• 'vehicle'
• 'ui'

Test sub components and hardware with eg ./fishpi/sensor/test_GPS_I2C.py.

BSD 2-Clause License.