Technical Reference

By Eliot

This page acts as a quick reference to the most important technical details of the main products in each category. It is primarily intended for quickly accessing several technical documents or comparing similar products by their main properties.

Additional details can be found in the linked product pages, and not all products are covered from each linked category.
“End of Life”/”Discontinued” and “Retired” tags indicate Blue Robotics is no longer sourcing more of a product, or no longer selling it.
Feedback and suggestions are welcome in the Technical Reference forum thread.

Vehicles and Accessories

Vehicles

These vehicles offer high-performance at affordable prices. They use open-source electronics and software and offer plenty of expandability, making them perfect for inspections, research, and adventuring.
VehicleThrustersControl AxesDimensions        3D Models
BlueROV2
BlueROV2 thumbnail
Vertical: 2
Horizontal: 4 (vectored)
Degrees of Freedom: 5

Vertical (up/down)
Forward/backward
Lateral (left/right)
Yaw (turning)
Roll (lean side down)
Length: 457 mm
(18 in)

Width: 338 mm
(13.3 in)

Height: 254 mm
(10 in)
BLUEROV2-R4 (.zip)
BLUEROV2-R3 (.zip)
BLUEROV2-R1 (.zip)
BlueROV2 Heavy
BlueROV2 Heavy thumbnail
Vertical: 4
Horizontal: 4 (vectored)
Degrees of Freedom: 6

Vertical (up/down)
Forward/backward
Lateral (left/right)
Yaw (turning)
Pitch (tilt nose)
Roll (lean side down)
Length: 457 mm
(18 in)

Width: 575 mm
(22.6 in)

Height: 254 mm
(10 in)
BlueROV2 Heavy 3D Model (GrabCAD)

Frames and Mounting

Component          UsageMaterial / FinishWeight                 Models                    
BlueROV2 Frame
BlueROV2 Frame thumbnail
Base frame of the BlueROV2.

Supports the enclosures,
6 thrusters, buoyancy foam,
ballast, lights, and gripper.
HDPE, black
BlueROV2 Heavy Thruster Guards
BlueROV2 Heavy Thruster Guards thumbnail
Heavy extension frame for
the BlueROV2.

Supports four vertical
thrusters, with handles
for convenient carrying.
HDPE, black BROV2-HEAVY-FILES (.zip)
Payload Skid
Payload Skid thumbnail
Add-on frame to the BlueROV2,
for mounting custom payloads.
HDPE, black
BlueROV2 Fairing
BlueROV2 Fairing thumbnail
Protection for main BlueROV2
buoyancy foam.
Polycarbonate, blue
BlueROV2 Heavy Fairing Add-on
BlueROV2 Heavy Fairing Add-on thumbnail
Protection for additional
buoyancy foam on BlueROV2
heavy configuration
Polycarbonate, blue
Watertight Enclosure Clamps
Watertight Enclosure Clamps thumbnail
Mounts to hold enclosures
in place against a flat surface.
6061-T6 Aluminum, Type II Anodized75 mm (3"): 67 g
100 mm (4"): 84 g
WTE3-M-CLAMP-R1 (.zip)
WTE4-M-CLAMP-R1 (.zip)

Thrusters, Actuators, and Lights

Thrusters

These thrusters use our patented flooded motor design, which makes them powerful, efficient, compact, and affordable. They use three-phase brushless motors optimized for underwater use, and are controlled by a sensorless brushless electronic speed controller (ESC). Bidirectional ESCs (like our BasicESC) can run a thruster both forwards and in reverse.
ThrusterElectricalMax Thrust  (FWD/REV)Propeller                     DimensionsWeight (w/ cable)3D Models
T500
T500 thumbnail
Voltage: 7-24 volts

Max Current (Power):
@12V:  16.9 Amps (202 Watts)
@16V:  25.1 Amps (402 Watts)
@20V:  34.0 Amps (681 Watts)
@24V:  43.5 Amps (1044 Watts)
@12V:  6.0 / 4.0 kg f
@16V:  9.3 / 6.2 kg f
@20V:  13.0 / 8.5 kg f
@24V:  16.1 / 10.5 kg f
Material: Polycarbonate

Blades: 3

Diameter: 114.5 mm
Length:
160 mm

Diameter:
141 mm
Air: 1157 g

Water: 730 g
T500-THRUSTER-R1-PUBLIC (.zip)
T200
T200 thumbnail
Voltage: 7-20 volts

Max Current (Power):
@12V:  17 Amps (205 Watts)
@16V:  24 Amps (390 Watts)
@20V:  32 Amps (645 Watts)
@12V:  3.71 / 2.92 kg f
@16V:  5.25 / 4.1 kg f
@20V:  6.7 / 5.05 kg f
Material: Polycarbonate

Blades: 3

Diameter: 76 mm
Length:
113 mm

Diameter:
100 mm
Air: 344 g

Water: 156 g
T200-THRUSTER-R1 (.zip)
[Retired] T100
T100 thumbnail
Voltage: 12 volts

Max Current (Power):
@12V:  11.5 Amps (130 Watts)
@12V:  2.36 / 1.82 kg fMaterial: Polycarbonate

Blades: 2

Diameter: 76 mm
Length:
101 mm

Diameter:
97 mm
Air: 295 g

Water: 120 g
T100-THRUSTER-R1 (.zip)

Speed Controllers (ESCs)

These bi-directional electronic speed controllers allow controlling brushless DC motors like those used in our thrusters. They are controlled by a servo-style PWM signal, where a pulse-width of 1100 μs corresponds to max reverse, 1900 μs max forward, and 1500 μs (+/- 25 μs of deadband) is stopped.
ESCsVoltageMax CurrentSignal VoltageUpdate Rate3D ModelsDocumentsFirmware          
Basic ESC
Basic ESC thumbnail
7-26 V (2-6S)30 A (depending on cooling)3.3-5 VMax: 400 Hz BESC30-R3 (.zip)
BLHeli_S Version 16.x manual (.pdf)
BLHeli_BRBasicESC-R_H_15-Rev.16.6-Multi_170921 (.ini)
BLHeli_S 16.6
Basic ESC 500
Basic ESC 500 thumbnail
7-26 V (2-6S)50 A (depending on cooling)3.3-5 V
[Retired] Blue ESC
6-22 VIn water: 35 A
In air: 25 A
PWM: 3.3-5 V
I2C: 5 V
50-400 Hz SimonK tgy

Grippers

A gripper is a useful tool for picking up small objects, attaching recovery lines, or freeing a snagged tether. Other manipulators may be useful in cleaning, inspection, or repair tasks. See this forum post for some community-designed jaw alternatives.
GrippersJawPressure RatingPowerSignalWeight (w/ cable)Documents3D Models
Newton Gripper
Newton Gripper thumbnail
Grip (at tip): 97N

Grip (in middle): 124N

Opening: 62 mm
300 mSupply Voltage: 9 - 18 volts

Peak Current: 6 amps
PWM Voltage: 3.3 volts

PWM neutral: 1500 µs

PWM open: >1530 µs-1900 µs

PWM close: <1470 µs-1100 µs
Air: 524 g

Water: 267 g
Newton Gripper Mount Drilling Template (.pdf)
Brushed ESC Schematic (.pdf)
NEWTON-GRIPPER-ASM-R3-PUBLIC (.zip)
NEWTON-MOUNT-ASM-R1-PUBLIC (.zip)

Lights and Indicators

These lights and indicators can help to see with a camera, or help to find and/or troubleshoot an enclosure.
LightsPowerLight3D ModelsDocuments
Lumen Subsea Light
Lumen Subsea Light thumbnail
Supply Voltage (Vin): 7 - 48 V

Peak Current: (15/Vin)  A
Brightness: exponential up to 1,500 lumens

Color temperature: 5,700 kelvin

Beam Angle: 135 degrees in water
LUMEN-LIGHT-R3-PUBLIC (.zip) Lumen Schematic (.pdf)
Subsea LED Indicator
Subsea LED Indicator thumbnail
Supply Voltage (Vin): 3 - 18 V (DC)
RED Indicator: 3-30 V (DC)

Peak Current: 30 mA
RED Indicator: 50 mA
Colors: White/Red/Green/Blue INDICATOR-ASM-R1 (.zip)

Enclosures, Buoyancy, and Ballast

Watertight Enclosures

These configurable watertight enclosures are great for all kinds of marine robotics applications. Modular end-caps give you options, with clear and flat end-caps with holes for cable penetrators and sensors, and domes for cameras.

In the 3D Models, M refers to Metal (aluminium), and P refers to Plastic (acrylic or polycarbonate).
See o-rings table for o-ring details.
Product TypeSeriesMaterial(s)Lengths        Depth Rating         Inner Diameter     3D Models                                                        
Watertight Enclosure Tubes
Watertight Enclosure Tubes thumbnail
Locking Series
(2", 3", 4")
Cast Acrylic /
6061-T6 Aluminum, Type II Anodized

Precision machined ends
2":
100 mm
150 mm
300 mm

3":
150 mm
240 mm
300 mm
400 mm

4":
200 mm
300 mm
400 mm
Aluminum:
950 m

Acrylic:
2":
100 mm→400 m
150 mm→200 m
300 mm→150 m

3":
150 mm→300 m
240 mm→200 m
300 mm→150 m
400 mm→125 m

4":
200 mm→150 m
300 mm→100 m
400 mm→70 m
2":
Aluminum:
50.0 ± 0.5 mm
Acrylic:
49.5 ± 1.5 mm

3":
Aluminum:
80.14 ± 0.20 mm
Acrylic:
76.2 ± 2.0 mm

4":
Aluminum:
104.16 ± 0.20 mm
Acrylic:
101.6 ± 2.1 mm
WTE2-P-LOCKING-TUBE-X-R1 (.zip)
WTE2-M-LOCKING-TUBE-X-R1 (.zip)
WTE3-P-LOCKING-TUBE-X-R2 (.zip)
WTE3-M-LOCKING-TUBE-X-R2 (.zip)
WTE4-P-LOCKING-TUBE-X-R2 (.zip)
WTE4-M-LOCKING-TUBE-X-R2 (.zip)
O-Ring Flanges
O-Ring Flanges thumbnail
Locking Series
(2", 3", 4")
AluminumInside Tube:
2":
15.5 ± 0.1 mm
3":
19.1 ± 0.1 mm
4":
19.1 ± 0.1 mm
Mounting Hole Circle:
2": 43.0 ± 0.1 mm
3": 68.6 ± 0.1 mm
4": 94.0 ± 0.1 mm
WTE2-M-LOCKING-FLANGE-SEAL-R1 (.zip)
WTE3-M-LOCKING-FLANGE-SEAL-R1 (.zip)
WTE4-M-LOCKING-FLANGE-SEAL-R1 (.zip)
End Caps / Flange Caps / Domes
End Caps / Flange Caps / Domes thumbnail
Locking Series
(2", 3", 4")
Cast Acrylic /
Aluminum

Polycarbonate dome retaining rings
End Caps:
2"
Acrylic:
600 m (0 holes)
3":
Acrylic:
400 m (0 holes)
Aluminum:
1000 m (4 / 7 holes)
4":
Acrylic:
500 m
Aluminum:
500 m (5 / 10 / 14 holes)
950 m (18 holes)

2" Aluminum Flange Caps:
950 m (0 / 2 / 4 holes)

Domes:
2": 950 m
3": 750 m
4": 500 m

2" Series


WTE2-P-END-CAP-R2 (.zip)
WTE2-M-LOCKING-FLANGE-CAP-BLANK-R1 (.zip)
WTE2-M-LOCKING-FLANGE-CAP-2-HOLE-R1 (.zip)
WTE2-M-LOCKING-FLANGE-CAP-4-HOLE-R1 (.zip)
WTE2-P-DOME-R1 (.zip)
WTE2-P-RETAINING-RING-R1 (.zip)

3" Series


WTE3-P-END-CAP-R1 (.zip)
WTE3-M-END-CAP-R1 (.zip)
WTE3-M-END-CAP-4-HOLE-R1 (.zip)
WTE3-M-END-CAP-7-HOLE-R1 (.zip)
WTE3-P-DOME-R1 (.zip)
WTE3-P-RETAINING-RING-R1 (.zip)

4" Series


WTE4-P-END-CAP-R1 (.zip)
WTE4-M-END-CAP-R1 (.zip)
WTE4-M-END-CAP-5-HOLE-R1 (.zip)
WTE4-M-END-CAP-10-HOLE-R1 (.zip)
WTE4-M-END-CAP-14-HOLE-R1 (.zip)
WTE4-M-END-CAP-18-HOLE-R2 (.zip)
WTE4-P-DOME-R4 (.zip)
WTE4-P-DOME-RETAINING-RING-R1 (.zip)
Enclosure Tubes
Enclosure Tubes thumbnail
Original Series
(6", 8")
Cast Acrylic298mm (11.75")6": 65 m
8": 40 m
6":
154.40 ± 0.30 mm
WTE6-P-TUBE-12-R1 (.zip)
WTE8-P-TUBE-12-R1 (.zip)
O-ring Flanges
O-ring Flanges thumbnail
Original Series
(6", 8")
Aluminum WTE6-M-FLANGE-SEAL-R1 (.zip)
WTE8-M-FLANGE-SEAL-R1 (.zip)
End Caps
End Caps thumbnail
Original Series
(6", 8")
Cast Acrylic /
Aluminum
6": 65 m (0 / 5 / 15 Holes)
8": 40 m (0 / 5 / 25 Holes)
WTE6-P-END-CAP-R1 (.zip)
WTE6-M-END-CAP-R1 (.zip)
WTE6-M-END-CAP-5-HOLE-R1 (.zip)
WTE6-M-END-CAP-15-HOLE-R1 (.zip)
WTE8-P-END-CAP-R1 (.zip)
WTE8-M-END-CAP-R1 (.zip)
WTE8-M-END-CAP-5-HOLE-R1 (.zip)
WTE8-M-END-CAP-25-HOLE-R1 (.zip)
[Retired]
Enclosure Tubes
Enclosure Tubes thumbnail
Original Series
(2", 3", 4")
(Open Source)
Cast Acrylic /
Aluminum
2": 12"
3": 8.75", 12"
4": 12"
2": 100 m
3": 150 m
4": 100 m
WTE2-P-TUBE-12-R1 (.zip)
WTE3-P-TUBE-8P75-R2 (.zip)
WTE3-P-TUBE-12-R1 (.zip)
WTE4-P-TUBE-12-R2 (.zip)
[Retired]
O-ring Flanges
O-ring Flanges thumbnail
Original Series
(2", 3", 4")
(Open Source)
Aluminum WTE2-M-FLANGE-SEAL-R4 (.zip)
WTE3-M-FLANGE-SEAL-R2 (.zip)
WTE4-M-FLANGE-SEAL-R3 (.zip)
[Retired]
End Caps / Flange Caps / Domes
End Caps / Flange Caps / Domes thumbnail
Original Series
(2", 3", 4")
(Open Source)
Cast Acrylic /
Aluminum

Polycarbonate dome retaining rings
2": 100 m
3": 150 m (0 / 4 / 7 holes)
4": 100 m (0 / 5 / 10 / 14 / 18 holes)
WTE2-P-END-CAP-R2 (.zip)
WTE3-P-END-CAP-R1 (.zip)
WTE4-P-END-CAP-R1 (.zip)

Buoyancy and Ballast

These buoyancy foams and ballast weights can help to balance a vehicle by shifting its center of volume (buoyancy) and center of mass (gravity). With both points in the same location a vehicle is optimised for pitch and roll rotations, whereas with CoB above CoG there is a self-righting effect that keeps the vehicle upright.
ComponentDensityWeight (in air)Net Buoyancy (Lifting Force)Tested DepthMaterialDimensions3D ModelsDocuments
Ballast Weight
Ballast Weight thumbnail
8000 kg/m3191 g-165 gN/APassivated Stainless Steel (AISI316)58 x 42 x 12 mm BALLAST-200G-R2 (.zip)
Subsea Buoyancy Foam: R-3312
Subsea Buoyancy Foam: R-3312 thumbnail
192 kg/m3(1) 50 g
(2) 227 g
(3) 403 g
(4) 1512 g
(1) 212 g
(2) 953 g
(3) 1694 g
(4) 6363 g
Uncoated: 91 m

Coated: 182 m
LAST-A-FOAM® R-3312(1) 203 x 102 x 13 mm
(2) 305 x 152 x 25 mm
(3) 406 x 203 x 25 mm
(4) 610 x 203 x 64 mm
FLOAT-8X4X0P5-R1 (.zip)
FLOAT-12X6X1-R1 (.zip)
FLOAT-16X8X1-R1 (.zip)
FLOAT-24X8X2P5-R1 (.zip)
Product Data Sheet (PDS) (General Plastics)
Product Safety Sheet (SDS) (General Plastics)
Compatible Foam Adhesives & Sealants (General Plastics)
Subsea Buoyancy Foam: R-3318
Subsea Buoyancy Foam: R-3318 thumbnail
288 kg/m3(1) 148 g
(2) 2268 g
(1) 362 g
(2) 5598 g
Uncoated: 300 m

Coated: 488 m
LAST-A-FOAM® R-3318(1) 124 x 86 x 48 mm
(2) 610 x 203 x 64 mm
FLOAT-1P9X3P4X4P9-R1 (.zip)
FLOAT-24X8X2P5-R1 (.zip)
Product Data Sheet (PDS) (General Plastics)
Product Safety Sheet (SDS) (General Plastics)
Compatible Foam Adhesives & Sealants (General Plastics)
BlueROV2 Machined Buoyancy Foam
BlueROV2 Machined Buoyancy Foam thumbnail
288 kg/m3209 g488 gUncoated: 300 m

Coated: 488 m
LAST-A-FOAM® R-3318150 x 86 x 54 mm FLOAT-R3318-BROV2-R1-RP (.zip) Material Safety Data Sheet (MSDS) (General Plastics)
Compatible Foam Adhesives & Sealants (General Plastics)
BlueROV2 Heavy Machined Buoyancy Foam
BlueROV2 Heavy Machined Buoyancy Foam thumbnail
288 kg/m3Uncoated: 300 m

Coated: 488 m
LAST-A-FOAM® R-3318104 x 87 x 60 mm[coming soon] R-3318 Material Safety Data Sheet (MSDS) (General Plastics)
Compatible Foam Adhesives & Sealants (General Plastics)

Sensors, Sonars, and Cameras

Cameras

A camera allows the pilot to see and record from the vehicle's point of view. If paired with a Camera Tilt Mount or other gimbal it can be moved during operation.
CameraLens                     Sensor                    Video StreamAudio        ElectricalWeight3D ModelsDocuments
Low-Light HD USB Camera
Low-Light HD USB Camera thumbnail

Sony Exmor IMX322 / IMX323
Mount:
M12 x 0.5

Field of View:
80° (H) x 64° (V)

Focal Length:
2.97 mm
Format: 1/2.9"

Pixel Size:
2.8µm (H) x 2.8µm (V)

Minimum Illumination:
0.01 lux
Standards: 240p15 - 1080p30

Formats: H.264 / MJPEG / YUV2(YUYV)
single-channel, 44.1 kHz, Linear-PCM (L16)Supply Voltage: 5 V

Max Current: 220 mA
w/ cable: 17g

w/o cable: 13.5g
CAM-USB-WIDE-R1 (.zip)
CAMTILT-P-LOW-LIGHT-HD-USB-R7 (.zip)
IMX322 Datasheet (.pdf)
IMX323 Datasheet (.pdf)
[Retired] Analog Low-Light Camera
Analog Low-Light Camera thumbnail

Sony Super HAD ICX810 / ICX811
Field of View:
128° (H) x 96° (V)

Focal Length:
2.1 mm
Format: 1/3"

Pixel Size:
5.0µm (H) x
7.4µm (V-NTSC)
6.25µm (V-PAL)

Minimum Illumination: 0.0003 lux
Standard: 700 TVL

Formats: NTSC or PAL
N/ASupply Voltage: 12 V

Max Current: 120 mA
CAM-ANALOG-R1 (.zip)
CAMTILT-P-MOUNT-ANALOG-R2 (.zip)
ICX810 / ICX811 Details (Wayback)
[Retired] Raspberry Pi Camera v2 w/ Wide Angle Lens
Raspberry Pi Camera v2 w/ Wide Angle Lens thumbnail

Field of View:
110° (H)

Focal Length:
1.7 mm
Standards: 1080p30N/A CAM-RPI-WIDE-R1 (.zip)
CAMTILT-P-MOUNT-RPI-R1 (.zip)

Leak Sensor

Leak sensors help to detect and warn about if a leak occurs, before it gets to and damages the electronics in an enclosure.
SensorElectricalSignalWeight3D ModelsDocuments
SOS Leak Sensor
SOS Leak Sensor thumbnail
Voltage: 3.3 - 5 V

Max Current: 20 mA
Digital, normally LOW
(leak pulls HIGH)
w/ cable and 2 probes: <10 g SOS-ASM-LEAK-SENSOR-R1 (.zip) SOS-LEAK-SENSOR-SCHEMATIC (.pdf)

Sonars

These sonars can be used for navigation, acoustic imaging, and depth profiling. They communicate using the Ping Protocol.
SonarsPressure RatingRange                         Signal Protocol(s)Profiling?Scanning?                  Estimates Distance?FrequencyWeight3D Models                  Code LibrariesMessage Subsets
Ping360
Ping360 thumbnail
300 m /
984 ft
0.75 m - 50 m /
2.5 ft - 165 ft

Resolution:
0.08% of range
USB, Ethernet (UDP), RS485YesVariable up to 360°

Resolution: 0.9°

Speed: depends on interface and selected range.
No750 kHzAir (w/ cable): 510 g / 18 oz
Water (w/ cable): 175 g / 6.17 oz
PING360-SONAR-R2-PUBLIC (.zip)
PING360-M-FRAME-MOUNT-R1-PUBLIC (.zip)
Python, C++, Arduinocommon, ping360
Ping Sonar
Ping Sonar thumbnail
300 m /
984 ft
0.5 m - 70 m (50 m typically usable) /
1.6 ft - 230 ft (164 ft typically usable)

Resolution:
0.5% of range
TTL Serial (UART)YesNoYes115 kHzAir (w/ cable): 133 g / 4.69 oz
Water (w/ cable): 55 g / 1.94 oz
PING-SONAR-R3-PUBLIC (.zip)
PING-M-MOUNT-R2-PUBLIC (.zip)
ArduPilot (limited), Python, C++, Arduinocommon, ping1d

Temperature and Pressure/Depth Sensors

These sensors have an M10x1.5 thread for mounting, and a face-seal o-ring to prevent water ingress.
SensorsOperating DepthRegular MaintenancePressure ResolutionPressure AccuracyWet Operating TemperatureTemperature AccuracyArduSub Compatible?Documents3D ModelsCode Libraries
Bar 100
Bar 100 thumbnail

Keller 7LD - PA
0 - 1020m /
0 - 3345 ft
N/A3 mbar (3cm in fresh water) /
0.045 psi (0.1 ft in fresh water)
± 500 mbar (5.1 m in freshwater) /
± 7.25 psi (16.75 ft in freshwater)
-40°C to 110°C /
-40°F to 230°F
± 2°C (between 0 to 50°C) /
± 3.6°F
Yes Keller PA-7LD Datasheet (.pdf)
Keller Communication Protocol 4LD-9LD (.pdf)
Keller LD Handling Instructions (.pdf)
Bar100 Schematic (.pdf)
BAR100-ASM-R2-PUBLIC (.zip)
BAR100-ASM-R1 (.zip)
Bar100 Penetrator Nut (.pdf)
KellerLD-Arduino,
KellerLD-python,
KellerLD-ArduPilot
Bar 30
Bar 30 thumbnail

MS5837-30BA
0 - 300m /
0 - 990 ft
Daily drying.2 mbar (2 mm in fresh water)± 200 mbar (204 cm in fresh water) /
± 2.9 psi (6.69 ft in fresh water)
2 to 40°C /
35.6 to 104°F
± 1.5°C (between 0 to 60°C) /
± 2.7°F
Yes MS5837-30BA Data Sheet (.pdf)
BAR30-SENSOR-Schematic (.pdf)
BAR30-ASM-R2-PUBLIC (.zip)
BAR30-PRESSURE-SENSOR-R1 (.zip)
MS5837 Arduino,
MS5837 Python,
MS5xxx ArduPilot
Bar 02
Bar 02 thumbnail

MS5837-02BA
10m /
33 ft
Daily drying.016 mbar (.16 mm in fresh water, 13cm in air at sea level)± 4 mbar (4 cm in fresh water) /
± .06 psi (1.6 inches in fresh water)
2 to 40°C /
35.6 to 104°F
± 2°C (between -20 to +85°C) /
± 3.6°F
No MS5837-02BA Data Sheet (.pdf)
Bar30/Bar02 Schematic (.pdf)
BAR02-ASM-R2-PUBLIC (.zip)
BAR02-PRESSURE-SENSOR-R1 (.zip)
MS5837 Arduino,
MS5837 Python
Celsius
Celsius thumbnail

TSYS01
0 - 975m /
0 - 3200 ft
N/AN/AN/A-40 to +125°C /
-40 to 257°F
± 0.1°C (between -5 to 50°C) /
± 0.18°F
± 0.5°C (between -40 to 125°C) /
± 0.9°F
Yes TSYS01 Datasheet (.pdf)
Celsius-Temperature-Sensor-Schematic (.pdf)
CELSIUS-SENSOR-R2-PUBLIC (.zip)
CELSIUS-SENSOR-R1 (.zip)
TSYS01 Arduino,
TSYS01 Python,
TSYS01 ArduPilot

Cables, Penetrators, and Connectors

Cables and Tethers

These sub-sea cables and tethers provide water-proof electrical connections for communications and power. Cables with water-blocking fillers are resistant to leaks caused by damage to their outer jacket.
Cable TypeNumber of
Conductors
Conductor GaugeDiameterCompatible WetLink PenetratorStatic Minimum Bend RadiusBuoyancy in FreshwaterWeight in AirStrengthVoltage RatingOuter JacketFillerConductor InsulationWrap
Fathom Slim ROV Tether
Fathom Slim ROV Tether thumbnail
2 (1x UTP)26 AWG4.0 mmWLP-M06-4.5MM-HC
WLP-M10-4.5MM-HC
25 mmNeutral0.012 kg/mWorking: 35 kgf

Breaking: 155 kgf
300 VDCHigh Visibility Polyurethane FoamKevlar Fiber with WaterblockPolyethylene-
Fathom ROV Tether
Fathom ROV Tether thumbnail
8 (4x UTP)26 AWG7.6 mmWLP-M10-7.5MM-HC
75 mmNeutral0.043 kg/mWorking: 35 kgf

Breaking: 155 kgf
> 500 MΩ/kftHigh Visibility Polyurethane FoamDacron Filler Fiber with Waterblock
+ Kevlar Strength Fiber with Waterblock
Polypropylene-
High-Power Tether Cable for OTPS
High-Power Tether Cable for OTPS thumbnail
10
(2x UTP,
1x UTP,
2x UTP)
23 AWG
24 AWG
26 AWG
9.8 mm75 mmNeutral0.077 kg/mWorking: 160 kgf

Breaking: 225 kgf
600 VDCHigh Visibility PolyurethanePolyurethane Foam inner jacket + Dacron Filler Fiber with Waterblock
+ Kevlar Strength Fiber with Waterblock
?-
High Power Cable
High Power Cable thumbnail
212 AWG8.3 mmWLP-M10-8.5MM-LC26 mmHigh-temperature Pressure-extruded polyurethane-FEPPTFE tape
T500 Cable
T500 Cable thumbnail
312 AWG9.0 mmWLP-M14-9.5MM-HC30 mmHigh-temperature Pressure-extruded polyurethane-FEPNonwoven fabric
T200 Cable
T200 Cable thumbnail
316 AWG6.4 mmWLP-M10-6.5MM-LC18 mmHigh-temperature Pressure-extruded polyurethane-FEPPTFE tape
[end of life]
(Old) Thruster Cable
(Old) Thruster Cable thumbnail
318 AWG6.3 mmHigh-temperature Pressure-extruded polyurethane-Chemically-Etched Teflon (FEP)Teflon tape
Ping360 Cable
Ping360 Cable thumbnail
628 AWG4.7 mmWLP-M06-4.5MM-LC
WLP-M10-4.5MM-LC
15 mmHigh-temperature Pressure-extruded polyurethane-FEPPTFE tape
Ping Cable
Ping Cable thumbnail
424 AWG4.5 mmWLP-M06-4.5MM-LC
WLP-M10-4.5MM-LC
15 mmPressure-extruded polyurethane-Polypropylene-
Lumen/Gripper Cable
Lumen/Gripper Cable thumbnail
322 AWG4.5 mmWLP-M06-4.5MM-LC
WLP-M10-4.5MM-LC
15 mmPressure-extruded polyurethane-Polypropylene-
Ethernet and Power Cable
Ethernet and Power Cable thumbnail
10
(2x single,
4x UTP)
22 AWG
26 AWG (UTP)
7.5 mmWLP-M10-7.5MM-LC24 mmPressure-extruded polyurethaneStringPolypropylene (22 AWG)
FEP (UTP)
2-layer non-woven wrap

Connectors

These connectors are part of our Blue Robotics Connector Standard, and form robust and reliable connections between devices, cables, and enclosures.
ComponentWiresElectrical RatingIngress ProtectionModelsDocuments
Binder 770 Plug
Binder 770 Plug thumbnail

Binder 770 Bulkhead Connector
Binder 770 Bulkhead Connector thumbnail
8 (4x twisted pairs)Voltage: 175 V
Current (per pin): 2 A
IP67 BINDER-770-PLUG-S-R1 (2.5-4 mm) (.stp)
BINDER-770-PLUG-L-R1 (6-8 mm) (.stp)
Binder 770 Plug S - 2.5-4 mm (Binder USA)
Binder 770 Plug L - 6-8 mm (Binder USA)
Binder 770 Datasheet (.pdf)
Binder 770 Bulkhead (Binder USA)

Penetrators

These sub-sea penetrators are great for long term penetrations and connections of cables to and between enclosures and devices. They are flexible, suitable for a variety of applications, and lower cost and easier to install than equivalent connectors.
ComponentMaximum
Depth
SupportsModels                                                                      Documents
WetLink Penetrator
WetLink Penetrator thumbnail
¹950 m3.7mm–9.8mm electrical cables WLP-M06-4.5MM-R1 (.zip)
WLP-M10-4.5MM-R1 (.zip)
WLP-M10-5.5MM-R1 (.zip)
WLP-M10-6.5MM-R1 (.zip)
WLP-M10-7.5MM-R1 (.zip)
WLP-M10-8.5MM-R1 (.zip)
WLP-M14-9.5MM-R1 (.zip)
WL-M06-NUT-R1 (.zip)
WL-M10-NUT-R1 (.zip)
WL-M14-NUT-R1 (.zip)
WLP Technical Datasheet (.pdf)
WetLink Penetrator Blank (No Hole)
WetLink Penetrator Blank (No Hole) thumbnail
²950 mM6 / M10 / M14 holes WL-M06-BLANK-PUBLIC (.zip)
WL-M10-BLANK-PUBLIC (.zip)
WL-M14-BLANK-R1 (.zip)
Pressure Relief Valve
Pressure Relief Valve thumbnail
²950 m- automatic pressure venting at 0.8 ± 0.2 bar
- manual pressure venting
- vacuum testing
- backfilling (with adapter)
PRV-M10-ASM-R1 (.zip)
PRV-M10-BACKFILL-ADAPTER-R1 (.zip)
M10 Enclosure Vent and Plug
M10 Enclosure Vent and Plug thumbnail
²950 m- manual pressure venting
- vacuum testing
VENT-M10-R1 (.zip)
VENT-M10-PLUG-R1 (.zip)
Switch
Switch thumbnail
²950 m- 120 VAC / 26 VDC
- 5A
SWITCH-M10-5A-R1 (.zip) 30-3UL Datasheet
Potted Cable Penetrator
Potted Cable Penetrator thumbnail
¹variable
(~100 m+)
4mm-8mm electrical cables PENETRATOR-M-BOLT-4MM-6-8-R3 (.zip)
PENETRATOR-M-BOLT-5MM-3ID-10-25-R1 (.zip)
PENETRATOR-M-BOLT-5MM-10-25-R2 (.zip)
PENETRATOR-M-BOLT-6MM-10-25-R2 (.zip)
PENETRATOR-M-BOLT-8MM-10-25-R1 (.zip)
PENETRATOR-M-NUT-10-16-R1 (.zip)
PENETRATOR-M-NUT-10-8-R2 (.zip)
Cable Penetrator Blank (No Hole)
Cable Penetrator Blank (No Hole) thumbnail
²950 mM6 / M10 holes PENETRATOR-M-BLANK-6-8-R3 (.zip)
PENETRATOR-M-BLANK-10-25-R3 (.zip)
PENETRATOR-M-NUT-10-8-R2 (.zip)
¹ Penetrator tested depths are for reference only, performance may vary depending on application and cable construction, it is the responsibility of the customer to determine suitability for their application.
² Rated depth in sea water

Tether Management

This equipment helps to reduce tether strain and tangling.
Flight ControllerWeightMain Materials3D Models
Fathom Spool
Fathom Spool thumbnail
Standard: 2.22 kg
Large: 2.89 kg
- Black HDPE (frame)
- Blue+black anodized aluminum (frame + crank)
- Nylon (brakescrews + cable clamps)
TMS-ASM-KIT-M-R2 (Standard Size) (.zip)
TMS-ASM-KIT-L-R2 (Large Size) (.zip)
Fathom Spool Connector Guard
Fathom Spool Connector Guard thumbnail
38 gBlue anodized 6061 aluminum TMS-SPOOL-CONNECTOR-GUARD-R1 (.zip)
Tether Cable Thimble
Tether Cable Thimble thumbnail
Black Nylon

O-Rings, Screws, Tools, and Consumables

O-Rings and Seals

These o-rings, x-rings, and seals help to prevent water ingress through enclosure openings.
SealSizeProductsMaterial
O-Ring M10 Vent Plug2 x 6 mm- [end of life] M10 Vent PlugNitrile Rubber
(Buna-N 70A)
O-Ring WetLink M061.5 x 7 mm- M06 WetLink Penetrator
- M06 WLP Blank
Nitrile Rubber
(Buna-N 70A)
O-Ring Potted M6AS568-010- M6 Potted Penetrator
- M6 Blank
Nitrile Rubber
(Buna-N 70A)
O-Ring M10 WetLink Plugs1.5 x 11.5 mm- M10 Vent Plug
- Switch (Plug)
- Vacuum Plug
- Pressure Relief Valve (Plug)
Nitrile Rubber
(Buna-N 70A)
O-Ring M10 Backfill Adapter1 x 13.5 mm- Backfill AdapterNitrile Rubber
(Buna-N 70A)
O-Ring WetLink M10 BulkheadAS568-013- M10 WetLink Penetrator
- M10 WLP Blank
- M10 Vent (Bulkhead)
- Switch (Bulkhead)
- Pressure Relief Valve (Bulkhead)
- M10 Potted Penetrator
- M10 Blank
- Bar 02
- Bar 30
- Bar 100
- Celsius
- Subsea LED Indicator
Nitrile Rubber
(Buna-N 70A)
O-Ring WetLink M141.5 x 15 mm- M14 WetLink Penetrator
- M14 WLP Blank
Nitrile Rubber
(Buna-N 70A)
O-Ring Lumen FaceAS568-019- Lumen (Face)Nitrile Rubber
(Buna-N 70A)
X-Ring Ping SonarAS568-127- Ping SonarNitrile Rubber
(Buna-N 70A)
O-Ring Gripper/LumenAS568-021- Newton Gripper (Flange Cap)
- Lumen (Radial)
Nitrile Rubber
(Buna-N 70A)
X-Ring Gripper JawAS568-204- Newton Gripper (Jaw Side)Nitrile Rubber
(Buna-N 70A)
O-Ring 2" Locking FlangeAS568-030- 2" Locking Enclosure Flange (Face & Radial)
- [retired] 2" Enclosure Flange (Face)
Nitrile Rubber
(Buna-N 70A)
O-Ring 2" Flange RadialAS568-133- [retired] 2" Enclosure Flange (Radial)Nitrile Rubber
(Buna-N 70A)
O-Ring Ping360AS568-142- Ping360Nitrile Rubber
(Buna-N 70A)
O-Ring 3" Flange FaceAS568-148- 3" Locking Enclosure Flange (Face)
- [end of life] 3" Enclosure Flange (Face)
Nitrile Rubber
(Buna-N 70A)
O-Ring 3" Locking Flange RadialAS568-150- 3" Locking Enclosure Flange (Radial)Nitrile Rubber
(Buna-N 70A)
O-Ring 3" Flange RadialAS568-230- [end of life] 3" Enclosure Flange (Radial)Nitrile Rubber
(Buna-N 70A)
O-Ring 4" Locking FlangeAS568-154- 4" Locking Enclosure Flange (Face & Radial)
- [end of life] 4" Enclosure Flange (Face)
Nitrile Rubber
(Buna-N 70A)
O-Ring 4" Flange RadialAS568-238- [end of life] 4" Enclosure Flange (Radial)Nitrile Rubber
(Buna-N 70A)
O-Ring 6" Flange FaceAS568-162- 6" Enclosure Flange (Face)Nitrile Rubber
(Buna-N 70A)
O-Ring 6" Flange RadialAS568-432- 6" Enclosure Flange (Radial)Nitrile Rubber
(Buna-N 70A)
O-Ring 8" Flange FaceAS568-170- 8" Enclosure Flange (Face)Nitrile Rubber
(Buna-N 70A)
O-Ring 8" Flange RadialAS568-442- 8" Enclosure Flange (Radial)Nitrile Rubber
(Buna-N 70A)
WetLink Penetrator Spare Seals
WetLink Penetrator Spare Seals thumbnail
Varied- WetLink PenetratorsFluoro-Elastomer
(FKM) Rubber

Screws

To find replacement screws for Blue Robotics products, please refer to this guide.

Tools

These tools are useful for assembly, maintenance, and repairs.
ToolPurposeMaterialWeight3D Models
Vacuum Pump
Vacuum Pump thumbnail
Testing enclosure seals without
getting wet.
PVC
O-Ring Pick
O-Ring Pick thumbnail
Removing o-rings without damage.Nylon
Backfill Adapter
Backfill Adapter thumbnail
Filling enclosures with inert gas,
or sealing an enclosure while
maintaining vacuum.

Requires Pressure Relief Valve.
7075-T6 Anodized Aluminum4.5 g PRV-M10-BACKFILL-ADAPTER-R1 (.zip)
Vacuum Plug
Vacuum Plug thumbnail
Pulling an enclosure to vacuum.

Requires M10 Vent or Backfill Adapter.
7075-T6 Anodized Aluminum8 g VENT-M10-VACUUM-PLUG-R1 (.zip)
Hex Key Set
Hex Key Set thumbnail
Tightening or removing hex screws.

1.5mm, 2mm, 2.5mm, and 3mm.
Blue-coated Steel
Cable Jacket Stripper
Cable Jacket Stripper thumbnail
Cutting and stripping 4.5 mm–29 mm
cable jackets.
Bulkhead Wrench
Bulkhead Wrench thumbnail
Tightening cable penetrators and
bulkheads close together.

M06 / M10 / M14 sizes.
Chrome-plated steel hardened to HRC 32-36 WL-M06-BULKHEAD-WRENCH-R1 (.zip)
WL-M10-BULKHEAD-WRENCH-R1 (.zip)
WL-M14-BULKHEAD-WRENCH-R1 (.zip)
WetLink Penetrator Assembly Block
WetLink Penetrator Assembly Block thumbnail
Holds WLP bulkhead during assembly.

Fits M06, M10, and M14 bulkheads.
6061-T6 Aluminum WLP-ASSEMBLY-BLOCK-R1 (.zip)
WetLink Penetrator Plug Wrench
WetLink Penetrator Plug Wrench thumbnail
Tightening or removing WLP Plugs.

Sizes for WLP Plugs.
Chrome-plated steel hardened to HRC 32-36
[End of Life]
Bulkhead Wrench (R1 Style)
Bulkhead Wrench (R1 Style) thumbnail
Tightening cable penetrators and
bulkheads close together.

M10 only.
Chrome-plated steel
[End of Life]
Potting Cartridge Dispenser
Potting Cartridge Dispenser thumbnail
Simplifies dispensing 2-part cartridges
with a mixing nozzle.
IDC Hand Tool
IDC Hand Tool thumbnail
Inserting wires into an insulation
displacement connector (used in the
Lumen Light and Newton Gripper).
IDC Tool Bit
IDC Tool Bit thumbnail
Inserting wires into an insulation
displacement connector (used in the
Lumen Light and Newton Gripper).

Consumables

These consumables help to create and maintain watertight seals of enclosures, cables, and penetrators.
ProductPurposeMaterialDocuments
Desiccant Bags
Desiccant Bags thumbnail
Indicating and absorbing moisture in
an enclosure.
Silica gel beads
+ cobalt chloride indicator
Molykote 111
Molykote 111 thumbnail
Lubricating o-rings and other seals.Silicone grease Molykote 111 Compound Technical Data Sheet (.pdf)
Molykote 111 Compound MSDS (.pdf)
[Retired]
Silicone Grease
Silicone Grease thumbnail
Lubricating o-rings and other seals.Silicone grease 202003-silicone-grease-MSDS (.pdf)
Loctite Marine Epoxy (USA ONLY)
Loctite Marine Epoxy (USA ONLY) thumbnail
Waterproof potting and sealing.Epoxy resin
+ hardener
[Retired]
Thixotropic Potting Compound
Thixotropic Potting Compound thumbnail
Waterproof potting.Reltek B-45TH BlueRobotics-WL-Epoxy-PartA-MSDS (.pdf)
BlueRobotics-WL-Epoxy-PartB-MSDS (.pdf)
Potting Kit (x 10)
Potting Kit (x 10) thumbnail
Simplifies mixing and applying epoxySyringes
+ mixing cups
+ mixing tips
[End of Life]
Mixing Tips (10 pcs)
Mixing Tips (10 pcs) thumbnail
Applying potting compound.
[End of Life]
Cable Preparation Wipes
Cable Preparation Wipes thumbnail
Cleaning and preparing cable jackets and
parts for potting and other adhesives.
Acetone-soaked fabric
Moldable Sealant
Moldable Sealant thumbnail
Field repairing cables and connections.Cured rubber coax-seal-msds (.pdf)
Silicone Self-bonding Tape
Silicone Self-bonding Tape thumbnail
Air and moisture sealing of irregular
shapes.
Silicone Datasheet (X-treme Tape)
Underwater Robotics: Science, Design & Fabrication
Underwater Robotics: Science, Design & Fabrication thumbnail
Learning about the marine environment
and marine robotics design and fabrication.
Paper

Communication, Control, and Power

Power Supplies, Batteries, and Chargers

These power supplies, batteries, and chargers help keep a vehicle powered and ready to use.
ComponentPurposeBattery CellsOutput CapacityCharging / Input PowerBattery Chemistry     Weight3D ModelsDocuments               
Black Rectangular Battery
Black Rectangular Battery thumbnail
Powering vehicle.4S1PNominal Voltage: 14.8V

Nominal Capacity: 10Ah

Max Current:
Continuous: 90A (9C)
Burst (10s): 120A (12C)
Max Current: 15A

Recommended Current: 10A
Lithium Polymer750 g BATTERY-LP-4S-10AH-R1 (.zip) Battery MSDS (.pdf)
UN38.3 Test Report (.pdf)
Certificate of Conformity (.pdf)
White Cylindrical Battery
White Cylindrical Battery thumbnail
Powering vehicle.4S6PNominal Voltage: 14.8V

Nominal Capacity: 15.6Ah

Max Current:
Continuous: 60A (3.8C)
Burst (10s): 132A (8.5C)
Max Current: 20A

Recommended Current: 10A
Lithium-ion1163 gSame CAD model as original 18Ah version:
BATTERY-LI-4S-18AH-R1 (.zip)
Battery MSDS (.pdf)
UN38.3 Test Report (.pdf)
INR18650-P26A MSDS (.pdf)
INR18650-P26A Data Sheet (.pdf)
[Discontinued]
Black Cylindrical Battery
Black Cylindrical Battery thumbnail
Powering vehicle.4S6PNominal Voltage: 14.8V

Nominal Capacity: 18.0Ah

Max Current:
Continuous: 60A (3.3C)
Burst (10s): 132A (7.3C)
Max Current: 20ALithium-ion1152 g Battery MSDS (.pdf)
INR18650-30Q Data Sheet (.pdf)
Outland Technology Power Supply
Outland Technology Power Supply thumbnail
Powering vehicle
from topside.
-Nominal Voltage: 15VDC

Max Power: 1000W (66.8A)
Input Voltage: 100-240VAC 50/60Hz

Max Usage: 1800W
- OTPS User Manual 46-0013 Rev B3 (Current) (.pdf)
OTPS User Manual 46-0013 Rev B2 (Retired) (.pdf)
OTPS User Manual 46-0013 Rev A5 (Retired) (.pdf)
Power Sense Module
Power Sense Module thumbnail
Measuring current
usage and supply
voltage.
--Measures up to
25.2 V (6S)
100 A (non-continuous)
-[Updated Models Coming Soon] PSM-ELEC-PCB-R2 (.pdf)
Battery Cell Checker
Battery Cell Checker thumbnail
Checking battery
cell voltages.
2-7s (lithium)--Lithium Ion
LiPo
LiFE
NiMH
NiCd
42 g
H6 Pro Charger
H6 Pro Charger thumbnail
Charging batteries.Lithium: 4S, 6S
(Lithium: 1-6S
NiZn/NiCd/NiMH: 1-14S
Pb: 2-24V)
Charge Power: 168 W (10 A)*
(0.1-26 A)

Discharge Power: Internal Discharge 30W, Balance Port 10W, (700 W External) (0.1-5 A)
100–240V AC /
6.5–30V DC
LiPo
LiIo
(LiFe
LiHV
NiZn
NiCd
NiMH
Pb)
410 g H6-PRO-Quick-Start-English-Spanish (.pdf)
HOTA H6 PRO Full Manual (for advanced users with unlocked firmware ONLY, English) (.pdf)
[End of Life]
Battery Charger
Battery Charger thumbnail
Charging batteries.Lithium: 1-6S
NiCd/NiMH: 1-17S
Lead-acid: 2-24V
Charge Power: 300W (0.05-20A)

Discharge Power: 20W Internal, 300W External (0.05-20A)
100-240V AC /
10-28V DC
LiPo
LiIo
LiFe
LiHV
NiCd
NiMH
Pb
1075 g 300W 20A Balance Charger Manual from Turnigy (.pdf)
5V Regulator
5V Regulator thumbnail
Powering 5V
electronics in
vehicle.
-Nominal Voltage: 5 V

Max Power: 30 W (6 A)
7 - 26 V /
2S-6S Li-po/Li-ion Battery
-
[Retired]
5V Regulator
5V Regulator thumbnail
Powering 5V
electronics in
vehicle.
-Nominal Voltage: 5 V

Max Power: 15 W (3 A)
2-6S-

Interface Electronics

These interface boards and adapters help ensure communications are possible between a range of sensors and devices.
ComponentUsed ForFromTo3D ModelsDocuments
Fathom-X Tether Interface Board
Fathom-X Tether Interface Board thumbnail
Extending ethernet
communications over two
wires (e.g. for a tether).
Ethernet (RJ45)HomePlug AV (two wires) FATHOM-X-ASM-R1 (.zip) Fathom-X-Schematic (.pdf)
Fathom-X Design Files
LX200V20-Datasheet-v1.2 (.pdf)
LX200V20 (RAKwireless)
Ethernet Switch
Ethernet Switch thumbnail
Connecting up to 5 ethernet
devices to a local network.
Ethernet (RJ45)Ethernet (RJ45 / 4-pin JST-GH) ETHSWITCH-R1 (.zip)
RJ45 to JST-GH Adapter
RJ45 to JST-GH Adapter thumbnail
Converting ethernet cable
connectors.
Ethernet (RJ45)Ethernet (4-pin JST-GH)
BLUART Adapter
BLUART Adapter thumbnail
Interfacing a serial signal
with a USB port.
- TTL Serial (6-pin JST-GH / through holes)
- RS485 (4-pin JST-GH / through holes)
USB (micro-USB) BLUART-R1-Schematic (.pdf)
I2C Level Converter
I2C Level Converter thumbnail
Interfacing I2C devices with
different voltages.
5V I2C (4-pin header)3.3V I2C (4-pin JST-GH / DF13 / pin header) LEVEL-CONVERTER-ASM-R1 (.zip) I2C-Level-Converter-Schematic (.pdf)
Level Converter Design Files
I2C Bus Splitter
I<sup>2</sup>C Bus Splitter thumbnail
Connecting up to 9 I2C
devices to a shared bus.
I2C (4-pin JST-GH / DF13)I2C (4-pin JST-GH / DF13 / through holes)
JST GH to DF13 Adapter, 4-pin
JST GH to DF13 Adapter, 4-pin thumbnail
Converting a 4 wire cable
connector (e.g. for I2C).
4-pin JST-GH4-pin DF13
Terminal Blocks and Hardware
Terminal Blocks and Hardware thumbnail
Power / ground bus (1) and
thruster connections (2)
on electronics tray.
1. ESC output (wire / ferrule)
2. Power wire (spade terminal)
1. Thruster wire
2. Power wire (spade terminal)
Barrier Block Datasheet (Molex)
Eurostyle Terminal Strip Datasheet (Molex)

Flight Controller Boards

The autopilot board/flight controller board processes the pilot input and sensor data, and controls the motors, lights, servos, and relays on the vehicle.
Flight ControllerElectricalArduPilot Firmwares          Onboard SensorsInterfaces                                        Physical                    3D ModelsDocuments
Thruster Commander
Thruster Commander thumbnail
Supply Voltage:
7 - 20 V
N/AN/A2x analog inputs for speed/direction or left/right control
4x PWM outputs (2 paired channels)
CMDR-ASM-POTENTIOMETER-R1 (.zip)
CMDR-ASM-THRUSTER-COMMANDER-R1 (.zip)
Navigator
Navigator thumbnail
Supply Voltage:
5–5.35 V (Main input)
5–5.35 V (Power module connector)
5–5.35 V (Aux input)

Consumption:
5 mA (Idle)
150 mA (Typical)
200 mA (Max)
Sub >= 4.1.0
Rover >= 4.2.3
Copter >= 4.2.3
Plane >= 4.2.3
IMU:  ICM-20602 (6-axis)
Magnetometer:  MMC5983
Compass:  AK09915
Barometer:  BMP280
ADC:  ADS1115
JST-GH connectors
3 x Serial UART (no flow control)
2 x I2C
1 x UART + I2C
1 x ADC (3.3 V)
1 x ADC (6.6 V)
1 x RC receiver
1 x Power module connector
16 Channel PWM out
2 x SOS leak probe connectors
1 x Auxiliary SOS board connector
1 x PWM out (fan)
1 x RGB LED header
3 x User definable LEDs
Weight: 26 g

Dimensions:
65 x 56 mm
NAVIGATOR-PCB-R1 (.zip)
NAVIGATOR-STACK (.zip)
NAVIGATOR-PCB-SCHEMATIC (.pdf)

All sensor and IC datasheets are linked in technical details.

[End of Life]
Pixhawk
Pixhawk thumbnail
Supply Voltage:
4.8 - 5.4 V
AnyGyro:  L3GD20H (16 bit)
Accel / Mag:  LSM303D (14 bit)
Accel / Gyro:  MPU 6000 (3-axis)
Barometer:  MS5611
DF13 connectors
1x I2C
1x CAN (2x optional)
1x ADC
4x UART (2x with flow control)
1x Console
8x PWM with manual override
6x PWM / GPIO / PWM input
1x S.BUS / PPM / Spektrum input
1x S.BUS output
Weight: 38 g

Dimensions:
50x81.5x15.5 mm
Pixhawk 1 Flight Controller Specifications (Dronecode)
Schematic and Layout (.pdf)
Pixhawk 4
Pixhawk 4 thumbnail
Supply Voltage:
4.1 - 5.7 V
Sub >= 4.1.0
Rover >= 3.4.2
Copter >= 3.6.1
Plane >= 3.9.3
Accel / Gyro:  ICM-20689
Accel / Gyro:  BMI055 or ICM20602
Magnetometer:  IST8310
Barometer: MS5611
JST-GH connectors
8-16x PWM outputs
3x PWM/Capture inputs
1x R/C input for CPPM
1x R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input
1x S.Bus servo output
5x UART
3x I2C
4x SPI
2x CAN
2x inputs for battery voltage / current
Weight: 15.8 g

Dimensions:
44x84x12 mm
Pixhawk 4 Flight Controller Specifications (Dronecode)

Onboard Computers

An onboard computer can simplify and enable communications between the surface computer, the vehicle's flight controller board, and any sensors (e.g. cameras, sonars, etc), indicators, or actuators that may be challenging or undesirable to connect via a flight controller.

It can be a companion to an independent flight controller board (e.g. Pixhawk) or the base for a dependent board (e.g. Navigator).
ComputerElectricalMain FeaturesDocuments
Raspberry Pi 4
Raspberry Pi 4 thumbnail
Supply Voltage: 5 V
Operating Voltage: 3.3 V

Max Current: 3 A
- Quad core Cortex-A72 (ARM v8) 64-bit SoC @ 1.5GHz
- 2.4 GHz and 5.0 GHz IEEE 802.11ac wireless, Bluetooth 5.0, BLE
- Gigabit Ethernet
- 2 USB 3.0 ports; 2 USB 2.0 ports
- 2GB RAM (1/4/8GB models available)
- 2-lane MIPI CSI camera port
- 40 GPIO pins
- H.265 (4kp60 decode), H264 (1080p60 decode, 1080p30 encode)
- Micro-SD card slot for loading operating system and data storage
- Operating temperature: 0 – 50 degrees C ambient
Specifications
Schematics and Drawings
[Retired]
Raspberry Pi 3B
Raspberry Pi 3B thumbnail
Supply Voltage: 5 V
Operating Voltage: 3.3 V

Max Current: 2.5 A
- Quad Core 1.2GHz Broadcom BCM2837 64bit CPU
- BCM43438 wireless LAN and Bluetooth Low Energy (BLE) on board
- 100 Base Ethernet
- 4 USB 2 ports
- 1GB RAM
- CSI camera port for connecting a Raspberry Pi camera
- 40-pin extended GPIO
- Micro SD port for loading your operating system and storing data
Schematics and Drawings

Software and Firmware

Software Applications

We develop or contribute to these softwares. They can be used to operate/configure our equipment/products.
ApplicationRecommended
Version(s)
InstallationRuns OnMajor FunctionalitiesCode RepositoryDocumentation Links
QGroundControl
QGroundControl thumbnail
- Current: 4.2.3
- Previous: 4.1.7
BlueROV2 Software SetupSurface Computer - connects to the vehicle
- allows controlling via a joystick
- displays vehicle telemetry and a video stream, and allows recording
- allows setting autopilot parameters
mavlink/ qgroundcontrol- ArduSub-specific QGC Docs
- Official QGC Docs
Ping Viewer
Ping Viewer thumbnail
2.3.4Ping Viewer Quick StartSurface Computer- can display Ping Altimeter and Echosounder (Ping1D) and Ping360 Scanning Imaging Sonar outputs
- allows configuring device/scanning settings
- allows updating Ping1D firmware
- allows replaying previous scans
bluerobotics/ ping-viewer- Official Ping Viewer Docs
BlueOS
[Replaces Companion Software]
- Stable: 1.0.1
- Beta: 1.1.0-beta.9
ArduSub BlueOS 1.0 InstallationOnboard Computer
(Raspberry Pi 3B, Raspberry Pi 4B,
+more to come)
- relays communication between the autopilot board and control software
- allows USB connection forwarding, including Ping devices and multiple video streams
- provides a web interface for configuration and monitoring system performance and service statuses
- allows users to make custom device/sensor integrations
bluerobotics/ BlueOS-docker- ArduSub BlueOS 1.0
[End of Life]
Companion Software
0.0.31ArduSub Installing CompanionCompanion Computer
(Raspberry Pi 3B)
- relays communication between the autopilot board and control software
- allows USB connection forwarding, including Ping devices and a video stream
- provides a web interface for configuration and monitoring system performance and service statuses
- allows users to make custom device/sensor integrations
bluerobotics/ companion- ArduSub Required Software
- ArduSub Companion Web Interface

Device Firmwares

These device firmwares power our devices.
FirmwareRecommended Version(s)InstallationRuns OnMajor FunctionalitiesCode RepositoryDocumentation Links
ArduSub
ArduSub thumbnail
- Stable: 4.1.0
- Development: 4.2.0
ArduSub FirmwareFlight Controller Board- allows high level control of a thruster-controlled vehicle
- supports manual and stabilised flight modes
- supports a variety of I2C and serial based sensors (for depth, temperature, GPS, etc)
- supports servo-style PWM outputs (for lights, grippers, etc)
- supports relay style (on/off) outputs
- supports power/battery monitoring
- supports leak detection via digital input
ArduPilot/
ardupilot
- ArduSub.com
- ArduPilot Documentation
BLHeli_S16.6Basic ESC R3 Firmware Files and CustomisationBasic ESC- allows bi-directional control of a sensorless brushless DC motor
- forward, stop, or reverse rotation depending on PWM pulse-duration (stops at 1500±25 µs)
- variable rotation speed (max reverse 1100 µs, max forward 1900 µs)
- built in thermal protection and stall protection
- motor phase detection and ESC arming beeps
- regenerative braking
- also supports control via Oneshot125, Oneshot42, Multshot, Dshot150, Dshot300, and Dshot600
bitdump/
BLHeli
BLHeli_S Version 16.x manual
Brushed ESCN/Aavrdude installer scriptNewton Subsea Gripper- allows bidirectional control of a brushed DC motor
- forward, stop, or reverse rotation depending on PWM pulse duration (stops at 1500±30 µs)
- automatic motor stall detection
- single rotation speed
bluerobotics/
newton-firmware
-
Ping3.28_autoPing Viewer Firmware UpdatePing Altimeter and Echosounder- enables sonar profiling with a variable range and ping rate
- includes distance estimation algorithm with confidence measure
- variable sensor gain
- allows setting speed of sound
- supports 'common' and 'ping1d' message subsets of Ping Protocol
- serial communication, with 115200 or 9600 baudrate
bluerobotics/
ping-firmware
- Ping Protocol: Ping1D
- Ping Viewer: Ping1D
Ping3603.1.1-Ping360 Scanning Imaging Sonar- enables multi-directional sonar scanning and profiling, with a variable range and ping rate
- provides low-level device control including sensor gain, transmit duration, sample period, and samples per profile
- supports 'common' and 'ping360' subsets of Ping Protocol
- serial/USB/ethernet communication options
-- Ping Protocol: Ping360
- Ping Viewer: Ping360
H6 Pro- Default (limited): V1.0
- Full: V1.0.11
H6 Pro Charger Firmware Unlock GuideH6 Pro Lithium Battery ChargerLimited Firmware:
- allows balancing high capacity lithium batteries, and charging to full or storage levels
- supports internal discharging to storage level
Full Firmware:
- allows balancing and charging a variety of battery types, at custom rates and to custom levels
- supports internal, external and regenerative discharging
- multi-function port can test servos, measure PWM, and provide PPM signals
-HOTA H6 PRO Full Manual



Authors

Eliot

Eliot is the Community Manager / Applications Engineer at Blue Robotics. He has a background in robotics and computer vision, and loves to help discover and share knowledge. You can find him on our forums as EliotBR.