Custom Vehicle Integration

Adapt AQUA Stack to custom underwater vehicles.

Vehicle Configuration

Create vehicle configuration file:

vehicle:
  name: "My Custom ROV"
  type: custom

  dimensions:
    length: 0.6  # meters
    width: 0.4
    height: 0.3

  mass: 8.5  # kg in air
  buoyancy: 0.1  # kg (positive = buoyant)

  thrusters:
    - position: [0.2, 0.2, 0]
      orientation: [0, 0, 45]  # degrees
      max_force: 5.0  # Newtons

    # ... more thrusters

  sensors:
    camera:
      position: [0.3, 0, 0.1]
      orientation: [0, 0, 0]

    imu:
      position: [0, 0, 0]
      orientation: [0, 0, 0]

Calibration Steps

1. Measure vehicle properties
2. Calibrate thruster mapping
3. Determine drag coefficients
4. Test control response
5. Tune control gains

Testing Procedure

# Start in manual mode
aqua-control --mode manual

# Test each thruster individually
aqua-test-thrusters

# Calibrate IMU
aqua-calibrate imu

# Test autonomous control
aqua-mission test-hover

Next: Simulation