BlueBoat Software Setup

Introduction

Setting up the software for the BlueBoat involves pairing the BlueBoat with the BaseStation, connecting your computer to the BaseStation, installing QGroundControl, and sensor calibration.

You need a computer to operate the BlueBoat. Most Windows 10 or newer, macOS, or Linux PCs and laptops will work (you can view the system requirements in the BlueBoat technical details). Android and iOS tablets or Chromebooks are not recommended or currently supported.

You Will Need

To complete the software setup for your BlueBoat, you will need the following components:

• Your BlueBoat
• Your BaseStation (with included antenna and USB-C cable)
• Your computer
• 1 x USB Ethernet adapter (from BlueBoat kit)
• 1 x BlueBoat battery
• Controller (optional)

Select Your Operating System

Instructions for Windows, macOS, and Linux are available. Select the operating system you are using by clicking the buttons below.

Windows Setup macOS Setup Linux Setup

Before You Start

An internet connection is required to update the BlueBoat software. Make sure you are in an area with a strong and reliable Wi-Fi network with internet access before you start.

It’s also a good idea to fully charge your BlueBoat battery and BaseStation prior to starting the software setup process. If you are using a Blue Robotics battery, refer to your battery charging instructions here. To charge your BaseStation:

1. Screw the BaseStation antenna onto the antenna connector on the side of the BaseStation. Orient the antenna so sticks straight up when deployed.

2. Unscrew the cover off the USB-C bulkhead connector.

3. Use the included USB-C cable to connect the BaseStation to a USB power source. This could be a USB port on your computer, a USB wall charger, a USB power bank, etc.

4. Press the charging button on the BaseStation panel to begin charging. The orange indicator LED above the charging button and the battery status LEDs should light up to show that the battery is charging.

5. The orange indicator LED above the charging button will turn off when charging is complete.

Install QGroundControl

QGroundControl (QGC) is ground control station software that serves as the graphical user interface to control the boat, set up missions, and view real-time vehicle telemetry. Download the latest recommended version from the link below and install it on your computer.

Configure Firewall

If your computer has an active firewall, you will need to add a rule to allow QGroundControl through the firewall.

BaseStation Pairing

The wireless router in the BlueBoat must be connected to your BaseStation prior to use. This procedure must be done anytime you are pairing a new boat with a BaseStation or vice versa.

1. Open the starboard side hatch lid and disconnect all the cables that are connected to it (STBD PWR cable, motor cable, ESC signal cable). Remove the hatch lid assembly from the BlueBoat, this is the only part of the BlueBoat you will need to complete the pairing process.

2. Remove the hatch lid clamshell (cover) by unscrewing the thumbnut. This gives you access to the electronics on the electronics tray.

3. Unplug the Ethernet cable from the Raspberry Pi. A flat tool like a screwdriver is helpful to push in the tab to disconnect the plug.

4. Connect this Ethernet cable to the USB Ethernet adapter included in the BlueBoat kit, then connect the adapter to a USB port on your computer. Note that in this step, you are connecting the router in the BlueBoat to your computer via the adapter, not the Raspberry Pi.

5. Connect a fully charged battery to the XT90 connector on the STBD PWR cable.

6. Turn on the electronics by turning the power switch in the “ON” direction until it bottoms out.

7. Turn on the BaseStation by pressing and holding the power button for 2 seconds then releasing. The green LED above the power button should illuminate when it is powered on.

8. The USB Ethernet adapter must be configured with an IP address on the 192.168.2.X subnet (e.g. 192.168.2.10). Do not use the following reserved IP addresses:

• 192.168.2.1 (computer IP address)
• 192.168.2.2 (BlueBoat Raspberry Pi IP address)
• 192.168.2.3 (BaseStation wireless router IP address)
• 192.168.2.4 (BlueBoat wireless router IP address)

Select your operating system below to show instructions for setting the IP address.

Windows Setup macOS Setup Linux Setup

9. Type 192.168.2.4 into a web browser address bar. This is the IP address of the wireless router in the BlueBoat starboard hatch lid assembly.

10. You should now be in the wireless router’s interface menu. Click Disconnect.

11. The interface should now display a list of networks it detects in the area. The BaseStation creates a wireless network with the SSID “BaseStation – 2.4Ghz”, select it. Enter the default password “BaseStation” and click Connect.

12. Congratulations! Your BlueBoat is now paired to your BaseStation. You can now return the starboard hatch lid assembly to the BlueBoat:

• Turn off the hatch lid assembly by turning the power switch in the “OFF” direction and disconnecting the battery.
• Disconnect the Ethernet cable from the USB Ethernet adapter and plug it back into the Raspberry Pi.
• Install the clamshell cover and thumbnut back on the hatch lid assembly.
• Install the hatch lid assembly back in the BlueBoat by reconnecting all the cables you disconnected earlier.

Network Setup

You now need to connect the BaseStation to your computer. The BaseStation can be connected to your computer wirelessly via Wi-Fi or using the included USB-C cable. Keep in mind that if you connect to the BaseStation wirelessly, your computer will no longer have internet access through that wireless connection. Connect the BaseStation to your computer using one of the methods below, you do not need to do both.

Connecting the BaseStation With a USB Cable

Connecting to the BaseStation With Wi-Fi

Powering-up the BlueBoat

To power-up the BlueBoat, you will need:

• Your BlueBoat
• 1 x BlueBoat battery

The BlueBoat supports connecting up to eight batteries, but we only connect one right now for initial setup. Make sure the battery has Velcro strips applied to it to secure it in the hull.

1. Open the starboard side hatch to access inside of the hull.

2. Remove the cap from one of the XT90 connectors on the 4S splitter cable (be sure to save it so you can use it later). It does not matter which one you pick, as they are all connected in parallel.

3. Connect the XT90 and balance lead connectors from the battery to the 4S splitter cable. Make sure the battery is securely held in place by the Velcro strips.

4. Close the hatch lid and lock all of the latches by pushing each latch in from the top until it snaps into place.

5. Put the antenna in the fully upright position.

6. Turn the power switch in the “ON” direction until it bottoms out. You should hear a beep and the NavLight will turn on after a few seconds indicating that the BlueBoat is powered on.

Update Software

Before proceeding, you must update the onboard BlueOS software and ArduRover firmware to get the latest feature updates and bug fixes. The BlueBoat will need access to Wi-Fi in order to perform the updates, make sure you are in an area with a strong and accessible Wi-Fi network before continuing with the update process.

Accessing BlueOS

BlueOS is a collection of tools and features for managing the BlueBoat through a browser-based user interface. It comes preinstalled on the BlueBoat’s onboard Raspberry Pi computer. To access the BlueOS web interface:

1. Make sure you have followed the first part of this guide and have paired the BlueBoat and BaseStation, connected the BaseStation to your computer, and powered on both the BlueBoat and the BaseStation.

2. In a web browser window, type 192.168.2.2 or blueos.local in the browser address bar.

3. You will be taken to the BlueOS web interface home screen. Do as the friendly welcome tour suggests and connect to a Wi-Fi network by clicking on your network from the Wi-Fi menu and entering the password.

Updating BlueOS

To perform a BlueOS software update:

Click on BlueOS Version from the left sidebar. This page will show the currently installed BlueOS version. It will also display an “UPGRADE TO …” button if there is update for BlueOS available. Go ahead and upgrade to the latest version if one is available. The process may take a few minutes depending on the internet connection speed. Wait for the update process to complete, the page will automatically refresh once it is done and the new BlueOS version will be displayed.

Updating ArduRover

ArduRover is the autopilot firmware that runs on the Raspberry Pi. To perform an ArduRover firmware update:

1. Click on Autopilot Firmware from the left sidebar. The currently installed firmware version will be displayed in the autopilot summary information at the top.

2. Expand the Firmware update section. Select Rover from the Vehicle type dropdown menu. From the Firmware dropdown menu, select the latest STABLE version available (higher number means newer). If the latest stable matches what is currently installed, you don’t have to do anything. Otherwise, if a newer version is available, click INSTALL FIRMWARE and wait for the process to finish.

Connecting to QGroundControl

1. With the BlueBoat and BaseStation powered on, open the QGroundControl application.

2. Wait a few seconds for the BlueBoat to auto-connect and the green parameters bar to finish loading from left to right.

3. If this is the first time setting up the BlueBoat, you will receive a message that additional setup is required. Follow the next sections to finalize vehicle setup.

Sensor Calibration

1. QGroundControl should automatically take you to the Vehicle Setup section the first time it connects. If it doesn’t, click on the “Q” icon in the upper left corner to open the QGC menu and click on Vehicle Setup.

2. Click on Sensors on the left sidebar.

3. Click on Accelerometer, ensure Roll180 is set for Autopilot Rotation then click Ok. Follow the onscreen instructions for the accelerometer calibration process. You will be prompted to reboot the autopilot when it is done. Go ahead and click Reboot and wait for it to reconnect.

4. Click on Compass, ensure Roll180 is set for Autopilot Rotation then click Ok. Follow the onscreen instructions for the compass calibration process. You will be prompted to reboot the autopilot when it is done. Go ahead and click Reboot and wait for it to reconnect.

Check Motor Directions

From the Vehicle Setup screen, click on Motors on the left sidebar. Click the button to enable the motor sliders. Slider “C” controls the port side motor and slider “D” controls the starboard side. Move the slider for each motor up (you only have to move it a little bit) and check the spin direction of the corresponding motor.

Each motor should spin so the propeller blades spin outward, away from the boat as they move from top to bottom.

Alternatively, you can check the direction that the propellers are pushing the air. When the sliders are moved up, the propellers should push air backwards, away from the boat.

If the motors are not pushing air in the correct direction, first check that the propellers are installed on the correct side. The propeller marked “LH” should be installed on the port side, and the propeller marked “RH” should be on the starboard side. If the propellers are installed correctly, follow the directions under ‘Reversing a Motor Direction’ to reverse the motor.

Reversing a Motor Direction

Follow these instructions to reverse a motor direction. You can skip this section if your motors are already spinning in the correct direction.

1. From the Vehicle Setup screen, go to Parameters then SERVO. Find the SERVO#_REVERSED parameter for the motor that needs to be reversed; SERVO1 is the port side motor and SERVO3 is the starboard side motor.

2. Switch the parameter setting to reverse the motor (e.g. if it was “Normal” set it to “Reversed” or if it was “Reversed” set it to “Normal”).

Calibrating the PowerSwitch

The current offset parameter for some BlueBoats may need additional calibration. If you notice the current draw information seems inaccurate, perform this calibration procedure. The calibration should be performed while the BlueBoat is at rest, with no additional load on the power system (no accessories or payloads connected to power).

1. Access BlueOS and navigate to the Extensions menu. Install the PowerSwitch Calibration extension.

2. After the extension is installed, click on it from the left sidebar. Wait for the extension to connect then click START CALIBRATION.

3. The calibration routine will run for a few seconds. The newly calculated offset parameter will be displayed when it is done, click on SET PARAMETERS to save the parameter to your BlueBoat.

Controller Setup

The BlueBoat can be operated without using a gamepad controller. However, we recommend having one available in case the BlueBoat needs to be manually controlled through tricky situations or if GPS aided navigation is not available. The Xbox controller is our recommended controller for the best experience. The Logitech F310 is also a good alternative for a more affordable option.

Xbox Controller Initial Setup

Logitech F310 Controller Initial Setup

Controller Calibration

The controller may require calibration before you can enable it for use in QGroundControl. If your controller requires calibration, the Joystick tab on the Vehicle Settings page will be red, and you should follow these steps to calibrate your controller. If your controller does not require calibration, the Joystick tab will not be red, and you can skip this step!

1. From the Vehicle Setup screen, click on the red Joystick tab in the sidebar on the left. If you do not see a Joystick tab, this means that the controller is not detected by QGroundControl or not connected to the computer.

2. Click Calibration, then click Start.

3. Follow the step-by-step instructions and move the sticks as indicated in QGroundControl.

When completed, the Joystick tab will no longer be red, and the Enabled checkbox on the Joystick page will be checked.

Controller Settings

The following settings must be enabled for the controller to function properly.

1. From the Vehicle Setup screen, click on Joystick from the left sidebar.

2. Click on the Advanced tab then enable the options for Center stick is zero throttle and Allow negative Thrust.

Button Assignment

There is no predefined button layout so you will have to manually assign all of the button functions. To assign the button functions:

1. From the Vehicle Setup screen, click on Joystick from the left sidebar.

2. Go to Button Assignment, this screen will show a list of all the buttons and their assigned functions.

3. Press the button that you want to configure on the controller. The corresponding button number in the list will light up next to a dropdown menu with the list of functions that can be assigned to it.

4. Select the desired function from the dropdown. An example layout is shown below but you can configure the layout as you like.

Controller Thumbstick Modes

QGroundControl allows you to change which thumbsticks control the forward/reverse and rotational (yaw) movement of the boat.

1. From the Vehicle Setup screen, click on Joystick from the left sidebar.

2. Go to General and select an option from RC MODE. The different modes are shown below:

RC Mode 1

RC Mode 2

RC Mode 3

RC Mode 4

Backing Up Your Parameters

After you have the BlueBoat all set up, it’s a good idea to create a backup of your autopilot parameters so they can be easily restored should the need arise. To backup your autopilot parameters:

1. Access BlueOS and navigate to the Autopilot Parameters page.

2. Scroll down to the bottom of the list of parameters and click on the SAVE button.

3. The parameter file (.params) will be saved to whichever folder is designated as the “Downloads” or “Save to…” folder in your web browser settings. Keep this file in a safe location.

4. To restore the parameter file, use the LOAD button from the same Autopilot Parameters page.

Next Steps

Head over to the BlueBoat Operator’s Guide to learn how to carry out your first mission! After that, check out the BlueBoat General Integration Guide to learn about the various ways BlueBoat supports integrating payloads.