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Ardusub and Underwater GPS

Can water linked underwater gps be integrated with normal ardusub rov other than bluerov2?
If it can, what is the ardusub version that supports this feature?

Hello @fred

The underwater GPS integration is done by the Companion, but if should work on any ROV running stable Ardusub with a companion.

Thank you for your replay @williangalvani

I can see the location of the ROV on the map now.
But when I set a mission and try to switch to Auto mode I receive “Unable to start mission: Vehicle failed to change to Guided mode.”
I’m using Ardusub v3.5.4 and QGC 3.5.3