Power off the vehicle completely and open the primary electronics enclosure
2
Route Cable
Route the Tracker 650's cable into the vehicle's primary electronics enclosure. Ensure the sealing surfaces and o-ring are lightly greased and free of debris. Tighten the cable penetration.
3
Connect Power
Connect the power leads to the vehicle's power distribution rails. (Red +, Black -)
4
Connect Ethernet
Plug the 4 pin JST-GH connector into your vehicle's Ethernet switch.
5
Secure Cables
Secure wires using waxed lacing cord or zip ties with a small strain relief loop to prevent strain on the pins and connectors. Close the primary electronics enclosure.
6
Mount Tracker 650
Attach the Tracker 650 to the mounting bracket and mount the bracket to the vehicle
With everything powered on and connected, open SonarView and click Device Discovery. Ensure you see the Tracker 650 like so:
3
Configure Session
Return to the SonarView home page and click Session Configurations. In this page, you will need to create a vehicle for your mavlink2rest vehicle, a device for your Tracker650, and a session combining both.
Below is a template file you can upload to Session Configurations. Make sure the tracker 650 and BlueROV details match your setup before continuing
Go back to the home page and click Device Discovery. You should see the custom session. Click Connect
5
Check ArduPilot Parameters
In order for the Tracker 650 to send updates to the ArduPilot flight controller, certain parameters must be set. With the vehicle correctly configured in the session, powered on, and connected, click Check Ardupilot Params in the left drawer.
This will check your vehicle's parameters and prompt you to change certain values if necessary
6
Edit Device Configurations
In the right drawer click Edit
Go to the dropdown labeled Physical and set the Yaw mounting angle. In the default configuration, the tracker is mounted with its arrow pointed 30 degrees to starboard from the direction of the vehicle as shown in the image below.
Go to the dropdown labeled MAVLink and ensure these values match your vehicle. These values are stored on the device itself, so you need to make sure they match what you set for your session:
Send Distance: Send distance measurements to the flight controller to make the Tracker 650 also act as an altimeter
Auto Origin: On boot, have the tracker firmware send an origin of 0,0 so dead reckoning works without a global reference
Once you're satisfied, click the green send icon to update the device's internal configuration:
7
Confirm Functionality
Open the web UI for your mavlink2rest server (by default at http://192.168.2.2:6040/). Here you can confirm that the Tracker650 is sending VISION_POSITION_DELTA messages to your vehicle's flight controller:
8
Send Global Origin (Optional)
In order for ArduSub to do dead reckoning with the Tracker 650, it must start with a global origin. A simple way to do that is to return to the main view and click pick location in the left drawer. This will open a dialog that allows you to send coordinates to the vehicle for where it should start from. If you have a GPS configured, this step is unnecessary
With these steps completed, ArduSub should now be able to do position hold, dead reckoning, and waypoint navigation
