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Blueprint Subsea Seatrac USBL Interface


(Matt) #1

Hey Guys

I was wondering if anyone has used the Blueprint Subsea Seatrac USBL system with the BlueROV yet?

If not, im wondering what NMEA strings it would need to output to QGC in order for waypoint targeting to work? Im wanting to set target locations via the Seatrac software, which can output virtually any kind of data string, and have the BlueROV move to that location.

Any suggestions on the data interface into QGC please?

Matt


(Richard) #2

Hi Matt
I did some work recently to integrate info from a Subsonus USBL system from Advanced Navigation into a BR2/QGC setup. QGC can be used to set up all the waypoints you’d like, but to get this to work you’ll want to feed the vehicle’s position via NMEA data to the vehicle itself, specifically to some software that’s running on the Pi companion computer that will relay the info to the pixhawk. GGA, GLL or GNS messages will work. You can see the relevant companion code here:


So your surface Seatrac unit will want to be sending UDP data to the companion at 192.168.2.2:27000 or TCP info on port 27001, as shown here:

If I recall correctly, the Seatrac units don’t do NMEA data by default, or at least not UDP or TCP, just a serial output… in that case you’d need something to shift that data into NMEA output. I’ve looked into these units too, I’d really like to get one.


(Jacob) #3

The autonomous functionality of ArduSub is still in development and is not stable.


(Richard) #4

I can attest to Jacob’s comment, vehicle behavior in position-enabled modes has been unpredictable-- often perfect, sometimes quite wacky.


(Matt) #5

Thanks for the info Richard

What kind of scenarios have you experienced where the sub has gotten “wacky”.
Where there common details that caused it?

Iv placed my order with Blueprint Subsea so now its time to get the interface sorted. Autonomous travel isnt critical but i guess ill be ready to use it once its stable enough.
How have you found your Subsonus system? Any feedback after using it in real life??