This has taken a little while for me to get to, but here we go: an FOC ESC for ROV’s. FOC makes low speed motor control possible, which is better for filming because you don’t need big jumpy, noisy adjustments.
Schematic and BOM are done, layout not totally done but its well enough along to know the form factor and power handling. The power it can do is 10-48V input and 30A peak per phase. Not a power monster, but it’ll do significantly more power than the existing T200 can take, in case someone comes out with a slightly larger thruster in the near future.
The software is VESC technology, so it has UAVCAN built in and will probably soon be able to run from the CAN port in the BR2 pixhawk, freeing up all the PWM’s for controlling other things and removing even more wiring. Control options are: UART, CAN, and PWM.
It is designed for packing into the BR2 4" tube. This will take up less tube length than the existing BR2 ESC+wiring. One option is to put a power distro board and plug all the controllers into it so you don’t need to do any power wiring at all. The power connectors are all phoenix style terminal blocks, so its easy to unplug the motors when you want to do maintenance or modify the bulkhead penetrator configuration.