> For the complete documentation index, see [llms.txt](https://docs.ceruleansonar.com/c/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.ceruleansonar.com/c/omniscan-450/platform-specific-setup/blue-robotics.md).

# Blue Robotics

If using QGroundControl, it needs to be configured to allow the vehicle to control message rates. 

**Step 1:** Click the "Q" button in the top left, then click "Application Settings".

<figure><img src="https://3592855831-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FHdQbBpPtUatcIjbJpCQn%2Fuploads%2F1eLwe6A34rIQUO2tj5vn%2Fimage.png?alt=media&amp;token=11cf969b-7cd6-4ecf-80ad-6b465b7d977e" alt=""><figcaption></figcaption></figure>

Click "Mavlink" on the left side, then enable "All Streams Controlled By Vehicle Settings". Restart QGroundControl now.&#x20;

<figure><img src="https://3592855831-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FHdQbBpPtUatcIjbJpCQn%2Fuploads%2FYccpPFshYUXzTpP3z55a%2Fimage.png?alt=media&amp;token=ec2d50c8-0900-4d0b-a433-7a8308ae68d7" alt=""><figcaption></figcaption></figure>

**Step 2:** Increase Ardusub message rates. In QGroundControl, click the "Q" icon in the top left and select "Vehicle Setup".

<figure><img src="https://3592855831-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FHdQbBpPtUatcIjbJpCQn%2Fuploads%2FZJV69tP4teFuwI0BIOEW%2Fimage.png?alt=media&amp;token=e56ccd13-ff6f-4f6b-9d00-1d0a89fa35ab" alt=""><figcaption></figcaption></figure>

On the left side, select "Parameters". In the search box, type "sr0". Set SR0\_POSITION and SR0\_EXTRA1 to 50hz. If necessary, use "Force save" to set these values.  Reboot the vehicle now.<br>

<figure><img src="https://3592855831-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FHdQbBpPtUatcIjbJpCQn%2Fuploads%2FaImY9Zd4891NcJXZZvNv%2Fimage.png?alt=media&amp;token=b081e62c-e401-496b-9414-8c1887d0c1d1" alt=""><figcaption></figcaption></figure>