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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. Using MAVLink and BlueOS for Position Hold on a BlueROV2

ArduPilot Parameters

PreviousUsing MAVLink and BlueOS for Position Hold on a BlueROV2NextTracker 650 Setup for MAVLink Support

Last updated 1 year ago

If your ArduPilot software is not set up for position hold, you will need to set up some parameters.

Log into BlueOS by connecting to the ROV and browsing to http://blueos.local or http://192.168.2.2 -- this is the default address, if you have changed the ROV's IP address you will need to substitute it. You will see the following screen:

Click the Autopilot Parameters tile. You should land on this page:

Using the search and editing tools, change the parameter listed below to the given values. Don't forget to save the parameters after you change them.

Required Changes:

  • EK3_ENABLE: Enabled

  • EK2_ENABLE: Disabled

  • AHRS_EKF_TYPE: Enable EKF3

  • VISO_TYPE: MAVLink

  • GPS_TYPE: AUTO

  • EK3_SRC1_POSXY: ExternalNav

  • EK3_SRC1_VELXY: ExternalNav

  • EK3_SRC1_POSZ: Baro

  • RNGFND1_TYPE: MAVLink

  • RNGFND1_MAX_CM: 5000

Suggested Starting PIDs:

  • PSC_POSXY_P 0.6

  • PSC_POSZ_P 1.0

  • PSC_VELXY_D 0.2

  • PSC_VELXY_I 0.02

  • PSC_VELXY_P 4.0

  • PSC_VELZ_P 5.0

  • ACRO_YAW_P 4

  • ATC_RAT_YAW_FLTE 5

BlueOS landing page
Autopilot Parameters Landing Page