Hi @mark,
I’ve moved this to its own topic to facilitate cleaner discussion.
ArduSub 4.1 introduced support for some VISO Parameters and visual odometry MAVLink messages. We’re working on properly documenting those for ArduSub, but haven’t yet completed those updated docs.
That said, our Water Linked DVL BlueOS extension is already using those features (and so was the DVL integration in the old Companion Software). It’s likely not the greatest reference at the moment, both because
- it uses a somewhat roundabout route via MAVLink2Rest instead of a direct MAVLink library, and because
- it’s currently undergoing a significant overhaul,
but it is at least some form of reference.
Be aware that ArduPilot has some somewhat unintuitive origin behaviour/terminology, so I’d suggest you have a read of this issue (and the linked discussion) for some extra context. That has been taken into account in the overhaul, but was not handled previously (instead it just limited position correction / origin setting to once on startup).
If you’re not pressed for time then I’ll hopefully get a chance to document that side of things a bit more directly some time this month, but feel free to poke around and ask questions in the meantime 