Thruster System Assembly

1. Connect a thruster to an ESC. The Black cable has three wires inside. Inside the green box, left side cables are from an ESC, and right side cables are from a thruster. The right side cables are from the black cable.

2. Connect an ESC to a power distribution board (PDB). Inside the green box, left black/red cables are connected to a PDB. Right side cables are connected to a thruster.

3. Connect an ESC to a Pixhawk. The magenta box refers to cables connected to cables from a thruster. The blue box refers to power cables. Lastly, the green box refers to cables connected to a Pixhawk. This is the side view of a Pixhawk. We have three connections here since we have three ESCs connected to a Pixhawk.

4. Connect a Pixhawk for power supply. The green box shows the cables to supply power to a Pixhawk. We use a power distribution circuit that takes power cables from both a Pixhawk and a Pi. The blue box is from a Pi, and the green box is from a Pixhawk. This is the picture of the power distribution circuit. The other side of the circuit is connected to a PDB for getting power from batteries.

5. Configure additional cables for a Pixhawk This photo shows how a Pixhawk and a Pi are connected via cable. This is for a depth sensor connection. You can connect the sensor to "12C" slot.