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Tracker 650
Tracker 650
  • Overview
    • CERULEANTRACKER DEPRECATION NOTICE
  • Quick Start for BlueROV / ArduSub Users
  • General Specifications
  • Configuring the Tracker 650
    • Finding the Configuration Web Page
    • Example Configuration Web Page
    • Live Status Page
    • Setting the Static IP Address
    • Setting the Fallback IP Address
    • Setting the Host IP Address
    • Setting the MAVLink REST Server Parameters
    • Setting Pool Mode
    • Setting DVL Mounting Rotation Offsets
      • Scenario: Driving Your Own Kalman Filter
        • Forward-Facing Mount
    • Setting Velocity Adjustment
  • General Usage
    • General Hints and Tips
    • Basic Operating Guidelines and Hints
    • Setting Speed of Sound
    • Scenario: Doing Your Own Dead Reckoning
    • Scenario: Holding Position
  • Using MAVLink and BlueOS for Position Hold on a BlueROV2
    • ArduPilot Parameters
    • Tracker 650 Setup for MAVLink Support
    • Global Origin
  • Mounting the Tracker 650
    • Bottom Mount
    • Thruster Deck Mount
      • Send xxx Message
  • Mounting Drawings (V1 pre-2025)
  • Communicating with the Tracker 650
    • Factory Defaults and Default Messages
    • The Ethernet Interface
    • Tips on How to Find the IP Address Assigned to Your Ethernet Adapter
    • Outgoing Message Formats, Tracker 650 to Host
      • $DVPDL and $DVPDX: DVL Position and Angle Deltas Messages
      • $DVNVM Non-Volatile Memory and Configuration
      • Freeform Error and Informational messages ($DVTXT)
      • $DVKFC Kalman Filter Raw Data Support Message
    • Commands Accepted by the Tracker 650
      • CONFIGURATION
      • SET-VELOCITY-ADJUSTMENT
        • SET-SPEED-OF-SOUND
      • SEND-DVPDL
      • SEND-DVPDX
      • SEND-DVKFC
      • SEND-MAVLINK-DISTANCE
      • MAVLINK-ORIGIN
      • SET-POSITION
      • SET-SENSOR-ORIENTATION
      • IP-ADDRESS
      • HOST-ADDRESS
      • MAVLINK-ADDRESS
      • FALLBACK-ADDRESS
      • UNICAST-TO-ME
      • PAUSE
      • RESUME
      • REBOOT
      • SET-POOL-MODE
    • Blue Robotics Discovery Protocol (Ethernet Only)
    • ARP (Address Resolution Protocol)
    • DHCP (Dynamic Host Configuration Protocol)
    • Ping (Internet Control Message Protocol Ping)
  • Coordinate Systems
  • Mounting Drawings (V2 post-2024)
  • CAD Models
  • Electrical Drawings
    • Power and Ethernet Cabling
  • Expectations
  • Copyright
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  1. General Usage

Scenario: Holding Position

PreviousScenario: Doing Your Own Dead ReckoningNextUsing MAVLink and BlueOS for Position Hold on a BlueROV2

Last updated 3 months ago

When flying aerial drones, it is typical to be able to release the controls and have the drone hold its position. For ROVs, since we normally don’t have an external position reference equivalent to the drone’s GPS, when we release the controls, the ROV often drifts due to currents or pull from the tether.

Using the Tracker 650, we can lock into a nearby plane like a seabed and hold position while the operator is doing other tasks.

Requirements in addition to the DVL:

  • Flight Controller with Position Hold capability, or

  • Flight Controller that can interpret the MAVLink Message.

If installed on an ROV Ethernet network that has mavlink2rest, the DVL can automatically connect to , a component of . See for details.

The DVL can also output $(Position Delta) or $DVPDX (Extended Position Delta) messages which contain position delta and orientation data in ROV coordinates. This message can be used by a flight controller for position holding, and to use it, you the user will need to provide a software integration to connect the Tracker 650 messages to your flight controller.

VISION_POSITION_DELTA
mavlink2rest
BlueOS
this page
DVPDL