Hello, System: BlueOS 1.4.1, ArduSub 4.5.5, Tracker 650 (SonarView 1.13.35 beta). Cerulean’s recommended parameters are applied (official docs + an additional set shared by Nick).
Issue: The origin is set at startup and QGC/Cockpit shows the correct initial location, but once in the water the map pin never moves. LOCAL_POSITION_NED and VISION_POSITION_DELTA (high confidence) stream continuously, yet GLOBAL_POSITION_INT lat/lon stays fixed.
Questions:
For the map pin to move, is a continuous GPS_INPUT stream (5–10 Hz) required, or should a one-time origin + DVL deltas be sufficient for GLOBAL_POSITION_INT?
Are these MAVLink System ID settings correct?
Pixhawk SYSID_THISMAV = 1
Tracker 650 “My MAVLink system ID” = 255 (docs suggest 253 if unsure)
“MAVLink system ID (default is 1)” on the autopilot side should remain 1, right?
Your system ID all look ok. Does position hold mode function as expected?
If I understand correctly, you’re using a Pixhawk - with what version of Raspberry Pi? You may want to update to the latest stable BlueOS 1.4.2, but roll back your ArduSub to 4.5.3 - we’re still working on some documentation of new features around that version.
How are you setting the original GPS position of the unit?
Yes, we use Pixhawk. I tried versions 4.5.3 and 4.5.5 for Ardusub. I also tried versions 1.4.1 and 1.4.2 for blueos.
I set the location of the device from the SonarView application (version 1.13.35). The location on the map in QCG and Cocpit application is correct. After lowering my car into the water, none of the movements are reflected on the map. I looked at some mavlink messages. Delta x and y are generated from Tracker 650 and …:6040 and I can see it in mavlink rest. Where is the icon showing my vehicle on the map triggered, which parameters and messages are affected. If I know this, we can get to the source of the problem. Thanks for your help.
Note. In 1.4.2 blueos version, I noticed a high CPU usage, seriously freezing. Is this normal?