# Installation on BlueBoat

### Additional Hardware Required

* Ethernet Switch
  * The BlueBoat does not have an additional Ethernet port available by default, so an Ethernet switch must be added. 
    * Easiest solution: [Blue Robotics 5 Port switch](https://bluerobotics.com/store/comm-control-power/tether-interface/ethswitch/)
      * Conveniently shares a footprint and bolt pattern with the BlueBoat's fuse block for easy installation. Plug and Play with Cerulean Sonars. 
    * Low-cost alternatives: 
      * [Tenda SG105](https://www.tendacn.com/product/overview/SG105v4.html)  (plastic case can be removed to make it even smaller)
        * The wall transformer can be cut off, and the power wires can be connected to the BlueBoat's power terminals. 
      * [ Murex Robotics Switch](https://docs.murexrobotics.com/elec/boards/networking/switch) 
        * This is a DIY option, it is not a purchasable product. 

### Mounting

A free 3D printable mount is available for the BlueBoat [here](https://www.printables.com/model/912751-surveyor-240-16-mbes-blueboat-mount). 

{% embed url="<https://www.printables.com/model/912751-surveyor-240-16-mbes-blueboat-mount>" %}

The BlueBoat's conical mount bushings can be used on the outboard side of the hull, or you can install additional payloads. An Omniscan 450 SS can share mounting holes with the Surveyor for simultaneous imaging and bathymetry!

<figure><img src="/files/WTAaeVPH9ABn0AOjIIz3" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/kmfFxGPGeCDdgl119m7S" alt=""><figcaption></figcaption></figure>

### Software Setup

If using QGroundControl, it needs to be configured to allow the vehicle to control message rates. If this step is not done, QGroundControl will override the vehicle's message rates and dramatically reduce the quality of your data!

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

<figure><img src="/files/dEAqYttdctCSKlxU67tt" alt=""><figcaption></figcaption></figure>

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

<figure><img src="/files/aGjNFO39a7q7Sw28qrVw" 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="/files/KputZ9h3nWzVGqfg3m2P" alt=""><figcaption></figcaption></figure>

**Step 3:** 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.

<figure><img src="/files/eo8Xpf6bN2hX2BMRR5Cn" alt=""><figcaption></figcaption></figure>

#### SonarView

Install the SonarView BlueOS Extension from within the BlueOS Extension Store.&#x20;

The SonarView BlueOS Extension is recommended when using sonars on a BlueBoat for a few key reasons:

* SonarView's server **always** has a solid connection to the sonar. Packets are never dropped, even if you lose communications with the boat.&#x20;
* Your telemety radio's bandwidth will not be used for raw sonar data, leaving more bandwidth for piloting, which will increase the usable range of the boat.&#x20;
* Your settings will be preserved across different computers or mobile devices
* Remote access to sonars over the internet is possible in this configuration<br>


---

# 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/surveyor-240-16/platform-specific-setup/installation-on-blueboat.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.