Note: This post has been languishing in the drafts folder for a while. I just, this weekend, finished the install. Rather than going over the entire saga, here's the result and lessons learned.
With the change from the Raspberry Pi stack to the much more powerful Jetson TX1 some changes needed to be made to the overall architecture of Nomad's electronics. Some of it remains the same, such as the sensor cluster passing through the Arduino Mega. Some of the changes are enhancements made necessary by the new processor. The diagram illustrates what the new architecture looks like.