Autonomous Water Sampling Drone System
Designed, integrated, and implemented an autonomous water sampling payload for the Holybro X500 V2 quadcopter with Pixhawk flight controller and Jetson Orin Nano companion computer.
Duration
Fall 2025
Role
Developer
Institution
NTNU IIR Automation Lab
Status
Completed
Technologies Used
Overview
This MMA4004 Mechatronics and Systems Integration project developed an autonomous water sampling system for the Holybro X500 V2 drone platform. The system integrates mechanical, electrical, and computational subsystems including a peristaltic pump with ±5% volume accuracy for 300ml samples, custom 3D-printed mounting brackets, and MAVLink-based communication between the Pixhawk flight controller and Jetson Orin Nano companion computer. Ground testing successfully demonstrated water sampling functionality with calibration-based volume control.
Problem Statement
Water quality monitoring in remote or hazardous aquatic environments presents significant challenges for traditional boat-based sampling methods. An autonomous aerial platform can reduce sampling time, access difficult-to-reach locations, and provide repeatable, georeferenced sampling points. However, the X500 V2 frame has a maximum payload capacity of only 1kg, which proved insufficient for a complete winch system, leading to scope modifications and the subsequent Tarot T18 thesis project.
Challenges & Solutions
| Challenge | Solution | Outcome |
|---|---|---|
| FrSky X8R Receiver Binding Failure | Diagnosed incompatible firmware, replaced with X6R receiver with correct ACCESS protocol | Reliable RC communication established |
| Pixhawk UART Configuration | Systematic debugging of serial port mapping between Jetson and Pixhawk | MAVLink communication over TELEM2 port working |
| GPIO PWM Signal Generation | Configured pinmux using Jetson-IO tool for proper GPIO output | Achieved 3.3V GPIO output for motor driver control |
| Payload Constraints | Revised scope to core water sampling demonstration within 1kg limit | Successful ground demo; full system planned for Tarot T18 thesis |