# Doppler Motion Tracking Mode

Here we will add some more in depth content, but for now see [The Doppler Motion Tracking Blog Post](https://blog.ceruleansonar.com/introducing-doppler-motion-tracking-on-omniscan/).

### Ardupilot Parameters

Note: Some firmware versions may be missing parameters from this list. 

| Parameter        | Value       |
| ---------------- | ----------- |
| EK3\_ENABLE      | Enabled     |
| EK2\_ENABLE      | Disabled    |
| AHRS\_EKF\_TYPE  | Enable EKF3 |
| VISO\_TYPE       | MAVLink     |
| GPS\_TYPE        | AUTO        |
| EK3\_SRC1\_POSXY | ExternalNav |
| EK3\_SRC1\_VELXY | ExternalNav |
| EK3\_SRC1\_POSZ  | Baro        |

### Suggested Starting PIDs

These values were tested on a BlueROV2 Heavy. The objective is to achieve smooth and predictable motion. Different vehicles and use-cases will require different tuning values. 

| Parameter           | Value |
| ------------------- | ----- |
| PSC\_POSXY\_P       | 0.6   |
| PSC\_POSZ\_P        | 1.0   |
| PSC\_VELXY\_D       | 0.2   |
| PSC\_VELXY\_I       | 0.02  |
| PSC\_VELXY\_P       | 4.0   |
| PSC\_VELZ\_P        | 5.0   |
| ACRO\_YAW\_P        | 4     |
| ATC\_RAT\_YAW\_FLTE | 5     |


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.ceruleansonar.com/c/omniscan-450/doppler-motion-tracking-mode.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.