With the Hackaday 2020 prize drawing to an end (and with my submission video uploaded) I thought it might be a good idea to talk about what I'm planning to do next for the Aruna project. Please note that these are ideas of mine and might not be implemented in the order written down or even ever.

Short term (working on this right now)

• Write drivers for all components on the PCB.
• Write unit tests for all functions of the Aruna library
• Refactor Aruna library to be more consistent
• Refactor all FreeRTOS from Aruna library to 100% Posix.
• ROV visualization with Inar (the control module at the surface)
• Xbox controller support for controlling the ROV

Long term (going to work on this probably next)

• Water quality sensor (for plastic levels etc.)
• Integrate the "dop" into the core
• Make a detachable cable plug
• Write a Dshot driver for the PCA9685, buy 4 more BLHeli controllers and get rid of the SimonK.
• Add two more motors to the design to create a 6DOF model
• Create a ballast tank
• Design a more space efficient Apsu board V2
• Make an automatic fail-safe, so that when the ROV crashes it can return to the surface anyway.
• Redesign the "universeel houder" because it required an odd position for screwing.

Hope and dreams (Far future)

• Sonar
• Camera
• Robot arm (for scooping soil)
• More efficient (maybe bigger) rotor blades
• Subsistent for BLDC, because these rust.
• Low frequency radio communication with the ROV (~27MHz)
• Implement an Aruna ROV for the STM32 and embedded Linux
• AUV (Autonomous underwater vehicle)
• Cross the IJsselmeer (the biggest Dutch lake)
• Create an underwater glider