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Can external heading and MRU sensor be used on BlueROV?

BlueROV2 and ArduSub
#1

Hi

I have a challenge regarding using the auto function on the BlueRov when inspecting barges, vessels and other metal structures, this is due to the metal interfering with the builtin magnetic sensors. Is there a way to add external heading sensor and external motion sensor to the system to override the internal sensors?

Arve

#2

Hi @arve ,

There is some infrastructure in place in Ardupilot master.

Alternatively, if the issue is the compass, instead of implementing a driver for a new external AHRS we could work with the new EK3_SRC1_YAW parameter(also in master) to consume external yaw data. I’ll try to do some experimenting with it.