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".

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

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

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.