For this inspection, I hacked the GPS input by taking the serial line counter encoder data and converting the distance in feet to latitude and meters to longitude then routing that data to Port 27001. QGC will then record the feet and meters in the video’s ASS overlay file. The GPS co-ordinates need to be less than 90 degrees for them to be valid so I’ve divided them by 10,000 but will post process them to display the proper distance on the overlay.
I really like how the video control in QGC v4.1.3 is always visible. Note: If you don’t have a valid GPS fix in QGC v4.1.3 you’ll see the message ‘No GPS Lock for Vehicle’ in the middle of the screen.
The BR2 has the following upgrades/sensors:
Imagenex 831L profiling sonar
SVS-209 Gigabit 5 Port Fiber Ethernet Switch
Blue Trail Engineering Cobalt connectors.
M10 thread Cat5 8 pin bulkhead