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The purpose of this project is to make a DIY autopilot for sailing boat.

Hardware :

• 2 arduino mini
• 1 IMU BNO 055
• 1 DC Motor driver MD10C R3
• 1 Liquidcrystal LCD (20x4) I2C
• 5 buttons

Software library

• PID_V1
• Adafruit_BNO055
• Adafruit_Sensor
• LiquidCrystal_I2C

for better portabilty I have integred this libraries in the folder

Arduino No 1 (menu) is dedicated to

• manage menu
• detect action on button ( pin 5,6,7,8,9 )
• print information on LCD via I2C (pin 4 and 5)
• send parameters to the second arduino via Serial connection (pin rx et tx)

Arduino No 2 ( asservissement ) is dedicated to

• calibrate the IMU (BNO055)
• save/recall calibrating informations to Eprom
• get euler angle from IMU
• get parameters from Arduino 1
• compute PID asservissement
• send data to Motor driver

IMU BNO055

It is a 3D magnetometer, 3D gyroscope and 3D accelerometer. It as internal processeur who can compute in reel time the data of the capteur to produce euler angle. It communicate with Arduino 2 via I2C

DC Motor driver MD10C R3

It can drive Motor up to 13A. This means around 150 watts Motor. It as two input : pwm ( level from 0 to 100% ) and reverse So it can pull and push the helm of the boat with variable power.