Foils

The foils of the solar boat is a system that is comprised of the following:

• Wing design
• Foil assembly
• Autopilot

A small overview is given below what any of these signify in the hydrofoils.

Wing design

The designed wing to be used on the solar boat.

The wing design is based on the calculation of the airfoil database website: http://airfoiltools.com/plotter/index

From this database an implementation has been made into matlab to tweak some parameters as well as a plot for generating the wing shape.

The matlab scripts are on the git and can be found here.

Foil assembly

The foil assembly connects the wing to the foil mast and then to the hull of the boat.

Scaled down for showing moving of the foil assembly.

Autopilot

The autopilot is the control electronics that controls the servos of the foil assembly. This a signal PCB with that measures the angle of the solar boat and adjust accordingly towards keeping the hull above the water.

CAN Messages

All multi-byte values are little-endian. Any state byte not listed maps to Unknown on the receiver side.

Message	CAN ID	DLC	Byte	Field	Type	Values / Range
ServoRudderSetpoint	0x010	2	0–1	Setpoint	u16 LE	1000–2000
HeightSensorFrontLeft	0x011	3	0	State	u8 enum	0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
			1–2	Height value	u16 LE	TBD (raw, unit undecided)
HeightSensorFrontRight	0x012	3	0	State	u8 enum	0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
			1–2	Height value	u16 LE	TBD (raw, unit undecided)
HeightSensor (placement TBD)	0x013	3	0	State	u8 enum	0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
			1–2	Height value	u16 LE	TBD (raw, unit undecided)
HeightSensor (placement TBD)	0x014	3	0	State	u8 enum	0=NotPluggedIn, 1=ModbusError, 2=Operational, 0xFF=Unknown
			1–2	Height value	u16 LE	TBD (raw, unit undecided)
ServoRudderStatus	0x020	3	0	State	u8 enum	0=Uninitialized, 1=Operational, 0xFF=Unknown
			1–2	Current setpoint	u16 LE	1000–2000
ServoRudderCommand	0x021	1	0	Command	u8 enum	0=Initialize