Navigator Flight Controller
Navigator Flight Controller
£219.99
The Navigator is an ROV and robotics flight controller for the Raspberry Pi 4. It has an onboard IMU, compass, barometer, and ADC sensors as well as 16 PWM outputs and numerous serial and I2C expansion ports. The Navigator is used on the BlueROV2 and BlueBoat in conjunction with the BlueOS software, but can also be used for a wide range of robotics applications!
Raspberry Pi 4 2Gb
5V 6A Power Supply
Power Sense Module
Low Light USB camera
Configuration Total:
£219.99
Product Description
The Navigator is an expansion board that plugs into the Raspberry Pi 4 and turns it into a fully-featured flight controller, ready to power ROVs, USVs, drones, ground vehicles, and just about anything that moves!
At its core, the Navigator is a collection of inputs and outputs. It has inputs from onboard sensors, outputs to servos or speed controllers, and expansions ports that can be connected to external devices.
Onboard, the Navigator has:
- 6-axis IMU with accelerometers and gyroscopes for orientation
- Dual three-axis magnetometers for compass heading
- Barometer for altitude in air
- 16 servo PWM channel outputs
- Current and voltage ADC inputs
- Built-in leak detection for 2 probes
- RC receiver input (SBUS)
- RGB status LED
Additionally, the Navigator has expansion connectors available, all of which follow the Blue Robotics Connector Standard and are compatible with most industry autopilot accessories. It has the following expansion ports:
- 4 serial ports
- 2 I2C ports
- 2 16-bit analog-to-digital converter (ADC) ports
- External LED port compatible with Neopixel RGB LEDs
In addition, the Navigator has a number of important features that are worth highlighting:
- Dual power inputs with automatic power switching for redundancy
- 3.3V logic on all ports
- 5V tolerance on serial ports
The Navigator comes with a custom designed aluminium heatsink that fits between the Navigator and Raspberry Pi and allows the Raspberry Pi to operate at high CPU usage in poorly cooled environments, like inside an enclosure. There’s a slot in the Navigator board that allows you to use the Raspberry Pi’s CSI camera connector.
The Navigator kit also comes with a set of expansion cables for the serial, I2C, and ADC ports to allow you to connect your hardware quickly and easily.
The Navigator kit ships with an SD card loaded with BlueOS, our new core operating software for ROVs, USVs, and other robotics. Built on top of Raspbian Linux, it provides a host of features including autopilot software management, video streaming, software updates, and user-defined extensions. It allows you to get started quickly with the Navigator and ArduPilot firmwares.
The Navigator schematic design is open source and available to help you maximize your usage of the Navigator.
Technical Specifications
Specifications
| Parameter | Value | |
|---|---|---|
| Electrical | ||
| Current Draw | 5 mA (Idle) 150 mA (Typical) 200 mA (Max) | |
| Logic Level Voltage | 3.3 V (5 V input tolerant) | |
| PWM Signal Voltage Level | 3.3 V | |
| Maximum Power Delivery to Raspberry Pi and Peripherals | 4 A continuous, 4.5 A peak | |
| Pressure Sensor Relative Accuracy | 0.12 mbar | 1 m |
| Pressure Sensor Absolute Accuracy | 1 mbar | 8 m |
| Pressure Sensor Resolution | 0.0016 mbar | 1.5 cm |
| Operating Temperature | -40°C to 60°C | -40°F to 140°F |
| Storage Temperature | -40°C to 85°C | -40°F to 185°F |
| Supply Voltage | 5–5.35 V (Main input) 5–5.35 V (Power module connector) 5–5.35 V (Aux input) | |
| Performance | ||
| Pressure Sensor Measurement Range | 300–1100 mbar | -900–9000 m |
| PWM Accuracy | ±0.5 µs (@ 50, 100, 200, 250, 400, 500 Hz) | |
| PWM Resolution | 1 μs @ 250 Hz | |
| ADC Resolution | 16 bits (14.69 bits effective) | |
| On-Board Sensors | ||
| 6-Axis IMU | ICM-20602 | |
| 3-Axis Digital Magnetometer | MMC5983 | |
| 3-Axis Electronic Compass | AK09915 | |
| Digital Pressure Sensor (Barometer) | BMP280 | |
| Analog to Digital Converter (ADC) | ADS1115 | |
| On-Board ICs | ||
| 16 Channel PWM Module with External Oscillator | PCA9685 | |
| Logic Voltage Translator | TXS0102 | |
| Power Mux & Ideal Diode | TPS2121 | |
| Additional ICs | Serial inverter for RC receivers 3.3 V to 5 V translation for RGB neopixel LEDs 4KB EEPROM | |
| Ports/Interfaces¹ | 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 | |
| RC Receiver Compatibility | SBUS, Crossfire, IBUS (inverted/non-inverted serial receivers) | |
| Software Development Libraries | Navigator Python / C++ Navigator Rust | |
| Compliance | RoHS (lead free) | |
| Physical | ||
| Weight | 26 g | |
| Dimensions | 65 x 56 mm | |
| Screw Hole Spacing | 58 x 49 mm | |
| Screw Hole Diameter | 2.75 mm | |
| Heat Sink Weight | 30 g | |
| Heat Sink Dimensions | 65 x 56 x 14 mm | |
| Heat Sink Material | Anodized 6061-T6 Aluminum | |
| Heat Sink Mounting Holes | M2.5x0.45 | |
| Thermal Pad Material | Silicone | |
| Accessory Cable Length | 200 mm | |
| Accessory Cable Wire Type | UL1571 28AWG PVC Insulation | |
| ¹ All connectors follow the Blue Robotics Connector Standard. | ||
Pinouts
| MAIN 5V | ||
|---|---|---|
| Connector Pinout | 1 - GND 2 - Vin 3 - GND | GND 5 V Supply GND |
| Connector Type | 3 position 0.1″ pitch male header pins | |
| Mating Connector | 3 position 0.1″ pitch female header | |
| POWER | ||
|---|---|---|
| Connector Pinout | 1 - Vin 2 - Vin 3 - Current sense 4 - Voltage sense 5 - GND 6 - GND | 5 V Supply 5 V Supply 3.3 V 3.3 V GND GND |
| JST GH Connector Type | BM06B-GHS-TBT(LF)(SN)(N) | |
| Mating JST GH Plug and Crimp Pins | GHR-06V-S (housing) SSHL-002T-P0.2 (pin) | |
| AUX 5V | ||
|---|---|---|
| Connector Pinout | 1 - GND 2 - Vin 3 - GND | GND 5 V Auxiliary supply GND |
| Connector Type | 3 position 0.1″ pitch male header pins | |
| Mating Connector | 3 position 0.1″ pitch female header | |
| SERIAL 1, SERIAL 3, SERIAL 4 | ||
|---|---|---|
| Blue Robotics Connector Standard Reference | ||
| Connector Pinout | 1 - VCC 2 - TX (out) 3 - RX (in) 4 - Empty 5 - Empty 6 - GND | 5 V 3.3 V 3.3 V GND |
| Interface | UART | |
| Serial 1 Path | /dev/ttyS0 | |
| Serial 3 Path | /dev/ttyAMA1 | |
| Serial 4 Path | /dev/ttyAMA2 | |
| Serial 1 Baud Rate | 1200 Bd–2 MBd | |
| Serial 3, Serial 4 Baud Rate | 1200 Bd–3 MBd | |
| Maximum Power | 1 A | |
| JST GH Connector Type | BM06B-GHS-TBT(LF)(SN)(N) | |
| Mating JST GH Plug and Crimp Pins | GHR-06V-S (housing) SSHL-002T-P0.2 (pin) | |
| I2C 6 | ||
|---|---|---|
| Blue Robotics Connector Standard Reference | ||
| Connector Pinout | 1 - VCC 2 - SCL 3 - SDA 4 - GND | 5 V 3.3 V 3.3 V GND |
| Interface | I2C | |
| Path | /dev/i2c-6 | |
| Baud Rate | 10 kHz–1 MHz | |
| Maximum Power | 1 A | |
| JST GH Connector Type | BM04B-GHS-TBT(LF)(SN)(N) | |
| Mating JST GH Plug and Crimp Pins | GHR-04V-S (housing) SSHL-002T-P0.2 (pin) | |
| SERIAL 5 + I2C 6 | ||
|---|---|---|
| Connector Pinout | 1 - VCC 2 - TX (UART out) 3 - RX (UART in) 4 - SCL (I2C) 5 - SDA (I2C) 6 - GND | 5 V 3.3 V 3.3 V 3.3 V 3.3 V GND |
| Interface | UART + I2C | |
| UART Path | /dev/ttyAMA3 | |
| I2C Path | /dev/i2c-6 | |
| UART Baud Rate | 1200 Bd–3 MBd | |
| I2C Baud Rate | 10 kHz–1 MHz | |
| Maximum Power | 1 A | |
| JST GH Connector Type | BM06B-GHS-TBT(LF)(SN)(N) | |
| Mating JST GH Plug and Crimp Pins | GHR-06V-S (housing) SSHL-002T-P0.2 (pin) | |
| PWM 1–4 | ||
|---|---|---|
| Connector Pinout | 1 - PWM01 2 - PWM02 3 - PWM03 4 - PWM04 5 - GND | 3.3 V 3.3 V 3.3 V 3.3 V GND |
| Max Signal Current Draw | 15 mA | |
| JST GH Connector Type | BM05B-GHS-TBT(LF)(SN)(N) | |
| Mating JST GH Plug and Crimp Pins | GHR-05V-S (housing) SSHL-002T-P0.2 (pin) | |
| PWM 5–8 | ||
|---|---|---|
| Connector Pinout | 1 - PWM05 2 - PWM06 3 - PWM07 4 - PWM08 5 - GND | 3.3 V 3.3 V 3.3 V 3.3 V GND |
| Max Signal Current Draw | 15 mA | |
| JST GH Connector Type | BM05B-GHS-TBT(LF)(SN)(N) | |
| Mating JST GH Plug and Crimp Pins | GHR-05V-S (housing) SSHL-002T-P0.2 (pin) | |
| PWM 1–16 | ||
|---|---|---|
| Connector Pinout | 1 - PWM Signal 2 - V (Aux) 3 - GND | 3.3 V V (Aux) GND |
| Max Signal Current Draw | 15 mA | |
| Connector Type | 3 position 0.1″ pitch male header pins | |
| Mating Connector | 3 position 0.1″ pitch female header | |
| RC | ||
|---|---|---|
| Connector Pinout | 1 - Serial 2 - VCC 3 - GND | 3.3 V 5 V GND |
| Connector Type | 3 position 0.1″ pitch male header pins | |
| Mating Connector | 3 position 0.1″ pitch female header | |
| ADC0 6.6V | ||
|---|---|---|
| Connector Pinout | 1 - VCC 2 - Signal 3 - GND | 5 V 0–6.6 V Analog input GND |
| JST GH Connector Type | BM03B-GHS-TBT(LF)(SN)(N) | |
| Mating JST GH Plug and Crimp Pins | GHR-03V-S (housing) SSHL-002T-P0.2 (pin) | |
| ADC1 3.3V | ||
|---|---|---|
| Connector Pinout | 1 - VCC 2 - Signal 3 - GND | 5 V 0–3.3 V Analog input GND |
| JST GH Connector Type | BM03B-GHS-TBT(LF)(SN)(N) | |
| Mating JST GH Plug and Crimp Pins | GHR-03V-S (housing) SSHL-002T-P0.2 (pin) | |
| Leak | ||
|---|---|---|
| Connector Pinout | 1 - Signal 2 - GND | 5 V Pull-up GND |
| JST GH Connector Type | BM02B-GHS-TBT(LF)(SN)(N) | |
| Mating JST GH Plug and Crimp Pins | GHR-02V-S (housing) SSHL-002T-P0.2 (pin) | |
| AUX Leak | ||
|---|---|---|
| Connector Pinout | 1 - Signal 2 - VCC 3 - GND | 5 V 5 V GND |
| Connector Type | 3 position 0.1″ pitch male header pins | |
| Mating Connector | 3 position 0.1″ pitch female header | |
| RGB | ||
|---|---|---|
| Connector Pinout | 1 - Data 2 - V (Aux) 3 - GND | 5 V V (Aux) GND |
| Connector Type | 3 position 0.1″ pitch male header pins | |
| Mating Connector | 3 position 0.1″ pitch female header | |
| PWM0 | ||
|---|---|---|
| Connector Pinout | 1 - PWM0 2 - V (Aux) 3 - GND | 3.3 V V (Aux) GND |
| Connector Type | 3 position 0.1″ pitch male header pins | |
| Mating Connector | 3 position 0.1″ pitch female header | |
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