We’re currently troubleshooting some navigation issues with our BlueBoat system. The boat arms and moves normally in Manual mode, but when I switch to Auto or Loiter, it immediately shows:
“AHRS: not using configured AHRS type”
and refuses to engage those modes.
When arming in Manual, I also get the warning:
“EKF variance”,
although the vehicle still operates normally on the water on this mode.
Setup details:
Platform: BlueBoat
Autopilot: Pixhawk running ArduPilot 4.6.2
BlueOS version: 1.3.1
SonarView: 1.14.1
Connection: BlueOS web interface via BaseStation (Ethernet)
Control software: QGroundControl (version 4.2.8)
We’ve already calibrated compass and accelerometer through QGC and verified GPS fix with stable HDOP. The boat have been configured following all the steps from the Software Guide.
Despite this, the issue persists.
Below are screenshots of all AHRS related parameters currently configured on the vehicle:
Hi @arthur_argent0n
Welcome to the forums!
How on earth have you managed to setup a BlueBoat with a Pixhawk?!? By default, they come with Navigator - did you remove this, or just build yours from other pieces?
The “AHRS: not using configured AHRS type” sounds like you haven’t configured ARDUROVER firmware - is the Pixhawk detected on the Autopilot Firmware page in BlueOS? Do you receive telemetry on vehicle power consumption and orientation ok?
It’s worth noting the latest BlueOS stable version is 1.4.2 - definitely worth updating from your 1.3.1!
Have you connected the BlueBoat GPS to the Pixhawk, or are you getting lock with different hardware? You mention dual GPS, can you share more information?
Can you share a .params file for your setup? You can save this from the Autopilot Parameters page in BlueOS, assuming you’ve got the Pixhawk connected and talking ok…
Sorry for the confusion, that was my mistake in describing the setup.
I didn’t modify or replace any hardware on the BlueBoat. It’s running exactly as it came from the factory, with the Navigator autopilot, not a Pixhawk.
Initially, we had some issues getting the BlueBoat online, the BlueOS showed “internet_check_fail”, even though the Wi-Fi network had internet access and was connected to the BlueBoat. Because of that, we couldn’t update the system directly through the interface, and for some reason, not even by the .tar file (that’s the reason for the version used. If that might be related to the problem of AHRS, I’ll try to investigate it further and install a newer version).
The doubt about dual GPS came from both GPS parameters being set to “1”, which caused GPS 2 to never find reliable data. I’ve then, deactivated that one.
Also, we reset all the autopilot parameters to their default values, so everything is currently set to the original factory configuration.
Hi @arthur_argent0n -
Ok! Have you installed a second GPS? How is it connected?
There have been recent (short-term) issues with Docker access, and some WiFi may block access to github - you can usually update if using a cellphone hotspot for Internet access, or try again! Alternatively you can download and flash your SD card with the latest BlueOS, but you’ll want to backup your autopilot parameters first! Sharing that parameters backup file may be helpful if you continue to have issues…
By reset autopilot parameters, do you mean you’ve loaded the default BB120 parameters under Vehicle Setup in BlueOS?
No, not at all, the boat is entirely original, just as it came from the factory. I read somewhere that having both GPS1_TYPE and GPS2_TYPE active simultaneously could be causing the issue, since the system might always be expecting a signal from the second GPS (just a guess). Indeed, disabling one of them solved the “Waiting for GPS2 signal” error.
However, the AHRS error appears right after that message goes away.
I reset the autopilot parameters through the button on BlueOS interface, but the problem still persists. Anyway, here’s my parameters file:
Have you completed a good calibration of your motion sensors, including the Gyro, Accelerometer, and Compass? A bad compass calibration could be the cause of your issue…
Resetting the parameters loses this calibration - if you backed up the autopilot parameters before hand you can restore them without having to repeat the process.
Your parameters file is a bit weird -
EK_SRC1_POSXY and VELXY should be GPS, not ExternalNav
Besides reset, did you load the default parameters for the BlueBoat?
