# Automate bot using Ardusub

**URL:** <https://discuss.bluerobotics.com/t/automate-bot-using-ardusub/3924>\
**Category:** Blue Robotics Software\
**Tags:** ardusub, positioning\
**Created:** [December 16, 2018, 7:54pm UTC](https://discuss.bluerobotics.com/t/automate-bot-using-ardusub/3924 "2018-12-16T19:54:21Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![marmik18](https://avatars.discourse-cdn.com/v4/letter/m/e495f1/32.png) [@marmik18](https://discuss.bluerobotics.com/u/marmik18)\
**Post date:** [December 16, 2018, 7:54pm UTC](https://discuss.bluerobotics.com/t/automate-bot-using-ardusub/3924/1 "2018-12-16T19:54:21Z")

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Currently i am working on a project and trying to automate the ROV using Ardusub and i am a bit lost with pymavlink and dronekit. I am confused about what to use and will dronekit even support ArduSub as the autopilot firmware. I looked at the ArduSub Gitbook and ran through the examples given for pymavlink but i feel dronekit has better documentation.

Also is it possible to use AUTO/LOITER mode without Underwater GPS? or is it possible to give a command to move the ROV forward for a particular distance for eg. move forward for 2 meters, using the onboard IMU to estimate the distance travelled by the ROV.

I would really appreciate if you could reply quick as it is urgent.

thank you in advance.

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**Author:** ![patrickelectric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/patrickelectric/32/2162_2.png) [@patrickelectric](https://discuss.bluerobotics.com/u/patrickelectric)\
**Post date:** [December 17, 2018, 6:30pm UTC](https://discuss.bluerobotics.com/t/automate-bot-using-ardusub/3924/2 "2018-12-17T18:30:46Z")

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Hi,

> [@marmik18](#):
>
> Currently i am working on a project and trying to automate the ROV using Ardusub and i am a bit lost with pymavlink and dronekit. I am confused about what to use and will dronekit even support ArduSub as the autopilot firmware.

Dronekit runs over pymavlink, so you should have the same possibilities/limitations.

> [@marmik18](#):
>
> Also is it possible to use AUTO/LOITER mode without Underwater GPS? or is it possible to give a command to move the ROV forward for a particular distance for eg. move forward for 2 meters, using the onboard IMU to estimate the distance travelled by the ROV.

That’s not possible, you can read more about it here:

> [@ArduSub: Using IMU for horizontal positioning](https://discuss.bluerobotics.com/t/ardusub-using-imu-for-horizontal-positioning/399):
>
> Hi! Is there a way to use only the on-board IMUs for (rough) positioning in the xy-plane? So far I’ve tried a few approaches with no luck. AP\_InertialNav::get\_position() returns (0,0,z). I’ve come to the conclusion that this is because NavEKF2\_core::getPosNED(…) detects no GPS or optical flow sensor, and “NavEKF2\_core::validOrigin” is false. I also tried looking at the values of NavEKF2\_core::outputDataNew.position, but the x and y elements don’t seem to be reacting at all when I move the ROV (…

> [@ROV and AUV Localization an Introduction](https://discuss.bluerobotics.com/t/rov-and-auv-localization-an-introduction/519):
>
> Hey Blue Robotics Community! Relatively frequently I see people asking about, hovering, dead reckoning, and using GPS or IMUs for localization. This is often enough I think perhaps it would be useful to have a small guide on localizing underwater vehicles. This a first draft and should be considered an introductory guide. Any comments, criticisms, or things that I left off are welcomed and appreciated. Why is localization a problem for underwater vehicles? In the field of in air robotics, lo…

> [@Guided Mode not supported by Vehicle!](https://discuss.bluerobotics.com/t/guided-mode-not-supported-by-vehicle/2993):
>
> Hello, Whenever I changed the flight mode to guided and set a point on the QGround Control’s map so the ROV must start moving, unfortunately it gives me the message “Guided mode not supported by Vehicle”!!?