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Newer

IMU/Depth Module 2.0 for all OpenROVs (Production started July 2015)

Written By: OpenROV (Sofar)
  • Comments: 31
  • Favorites: 1
  • Completions: 15

Difficulty

Moderate

Steps

12

Time Required

00:30:00

Sections

1

Flags

0

Introduction

The new IMU has been designed to mitigate some of the issues associated with the previous IMU. The features of this unit include: >200m depth sensor capability, reliable compass heading and smaller printed circuit board.

  1. First set up wires accordingly to the IMU, refer to image 1. Red/gray to 3.3v, black/gray to GND, green/gray to SCL, and white/gray to SDA Have the wires go through the top of the board and solder on the bottom side. Clip the excess wires.

    • First set up wires accordingly to the IMU, refer to image 1. Red/gray to 3.3v, black/gray to GND, green/gray to SCL, and white/gray to SDA

    • Have the wires go through the top of the board and solder on the bottom side.

    • Clip the excess wires.

    • Wear safety glasses.

  2. Peel off the backing on the two acrylic pieces.

    • Peel off the backing on the two acrylic pieces.

    • With gloves, acrylic cement the thicker piece on top of the thinner piece.

  3. Start the epoxy process by applying some to the bottom surface. This will ensure there is no air trapped under the electronics board. Insert the IMU board into the epoxy. Insert the IMU board into the epoxy.

    • Start the epoxy process by applying some to the bottom surface. This will ensure there is no air trapped under the electronics board.

    • Insert the IMU board into the epoxy.

  4. With a piece of tape, tape down the wires to the acrylic piece as show in image 2. Keep wires coming out of the board.

    • With a piece of tape, tape down the wires to the acrylic piece as show in image 2.

    • Keep wires coming out of the board.

    • Make sure the entire board is flush to the acrylic.

  6. Epoxy the board onto the acrylic. Cover the board but DO NOT cover the white sensor. Refer to image 2.

    • Epoxy the board onto the acrylic.

    • Cover the board but DO NOT cover the white sensor. Refer to image 2.

    • Let the epoxy cure for 4-6 hours.

  7. On your ROV, remove the polypro fin. On your ROV, remove the polypro fin.

    • On your ROV, remove the polypro fin.

  8. Pull out the IMU wires from your ROV. Should be tucked on the starboard side of your wire bundle Cut off the heat shrink, and strip the wires. Cut off the heat shrink, and strip the wires.

    • Pull out the IMU wires from your ROV. Should be tucked on the starboard side of your wire bundle

    • Cut off the heat shrink, and strip the wires.

  9. Measure out the IMU wires to the stripped wires on the ROV from the starboard side of the acrylic structure. Refer to image 1. Make sure that the wires will not get in the way of the spinning propeller.

    • Measure out the IMU wires to the stripped wires on the ROV from the starboard side of the acrylic structure. Refer to image 1.

    • Make sure that the wires will not get in the way of the spinning propeller.

    • Clip the wires at that estimated length.

  10. Clip 4 pieces of heat shrink and place on the IMU wires. Clip 4 pieces of heat shrink and place on the IMU wires.

    • Clip 4 pieces of heat shrink and place on the IMU wires.

  11. Solder on the IMU wires to the ROV wires. Make sure the wires you are soldering together match in color. Use a heat gun to shrink the heatshrink around the soldered area of the wires.

    • Solder on the IMU wires to the ROV wires. Make sure the wires you are soldering together match in color.

    • Use a heat gun to shrink the heatshrink around the soldered area of the wires.

  12. Apply hot glue to the bottom of the IMU and place on the starboard side of the acrylic structure handle. Make sure that the pressure sensor is facing down and the IMU is oriented towards the front of the ROV.

    • Apply hot glue to the bottom of the IMU and place on the starboard side of the acrylic structure handle.

    • Make sure that the pressure sensor is facing down and the IMU is oriented towards the front of the ROV.

  13. Updating the software will be required on most ROVs to get the IMU to work, even if you have the previous version of the IMU.

    • Updating the software will be required on most ROVs to get the IMU to work, even if you have the previous version of the IMU.

    • You need to be running software version 30.0.2 or later for it to function correctly. We recommend running the latest version.

    • Please follow the guide here.

    • Please read about the procedure to calibrate the IMU.

Author

OpenROV (Sofar)

Member since: 09/28/2013

28,678 Reputation

37 Guides authored

Team

OpenROV Internal Member of OpenROV Internal

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