Using MAVLink and BlueOS for Position Hold on a BlueROV2
By default, the Tracker 650 will send position delta messages to mavlink2rest, a component of BlueOS. ArduSub requires these messages to enter Position Hold mode. You can also optionally send MAVLink DISTANCE_SENSOR distance messages that make the Tracker 650 look like a depth sounder, and optionally a SET_GPS_GLOBAL_ORIGIN message.
The position delta messages are necessary but not sufficient for ArduSub to do position hold (see the next two sections for other conditions).
The distance sensor messages tell ArduSub how far off the bottom (or other target surface) the DVL is. ArduSub doesn't really care, but it does pass this information to QGroundControl, which can display this on your piloting screen.
The SET_GPS_GLOBAL_ORIGIN message is described here. The address and port of mavlink2rest are assumed to be 192.168.2.2:6040, which is the default in BlueOS. The address and port will need to be configured if they are different than the default. See DVL Setup for MAVLink Support. Other ROV operating systems running mavlink2rest may also work, but we have only tested with BlueOS at this time.
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