Hi,
I have the BlueROV setup with Cerulean DVL and MKIII ROVL using the Sonarview software to push mavlink2rest messages for update on position. (see diagram).
The position is coming into QGC well and with recommended setting for ardupilot parameters I am trying to do simple planned route flyover. (Point A to Point B)
But QGC is telling me it cannot change mode as it require positions.
It previously was able to go POSHOLD but I cannot figure what was the setting. It is possible Cerulean DVL Extension may have been used but it was recommended not to.
Has anyone encountered such situation? If so what parameter needs to be changed to allow this function to work.
Parameters (recommended by Cerulean)
export const IDEAL_GLOBAL_ARDUPILOT_PARAMETERS = {
PSC_POSZ_P: { val: 1.0, required: false },
PSC_VELZ_P: { val: 4.0, required: false },
PSC_POSXY_P: { val: 0.6, required: false },
PSC_VELXY_P: { val: 4.0, required: false },
GPS_TYPE: { val: 14.0, required: true },
EK3_VELNE_M_NSE: { val: 5.0, required: false },
EK3_POSNE_M_NSE: { val: 10.0, required: false },
EK3_ALT_M_NSE: { val: 0.1, required: false },
EK3_GPS_CHECK: { val: 29.0, required: true },
EK3_SRC1_POSXY: { val: 3.0, required: true },
EK3_SRC1_VELXY: { val: 6.0, required: true },
EK3_SRC2_POSXY: { val: 6.0, required: true },
EK3_SRC2_VELXY: { val: 6.0, required: true },
EK3_SRC_OPTIONS: { val: 3.0, required: true },
VISO_TYPE: { val: 1.0, required: true },
VISO_DELAY_MS: { val: 50.0, required: true },
VISO_VEL_M_NSE: { val: 0.05, required: false },
VISO_POS_M_NSE: { val: 0.1, required: false },
VISO_QUAL_MIN: { val: 1.0, required: true },
};