# Classes for Adding External IMU and Navigation Data

**URL:** <https://discuss.bluerobotics.com/t/classes-for-adding-external-imu-and-navigation-data/1563>\
**Category:** Blue Robotics Software\
**Tags:** ardusub\
**Created:** [October 5, 2017, 12:32pm UTC](https://discuss.bluerobotics.com/t/classes-for-adding-external-imu-and-navigation-data/1563 "2017-10-05T12:32:17Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![TommyP](https://avatars.discourse-cdn.com/v4/letter/t/3bc359/32.png) [@TommyP](https://discuss.bluerobotics.com/u/TommyP)\
**Post date:** [October 5, 2017, 12:32pm UTC](https://discuss.bluerobotics.com/t/classes-for-adding-external-imu-and-navigation-data/1563/1 "2017-10-05T12:32:17Z")

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Hi All!

After looking around the ArduSub forums and code!! I have not been able to find a solution!

We would like to make a small ROV and would like to use the ArduSub pilot for all the vehicle controls, however we would like to use an external IMU system which will provide a nicely filtered attitude estimation as well as an improvisation for dead reckoning.

The data will come in over ethernet, and we are using a RPi to process the data and maybe a PixHawk or something else for the motor control (not entirely sure just now).

Anyway, I have been looking over the ArduSub code and have been trying to find the point at which I can override the internal EKF/AHRS calculations. I have been looking/testing for far too long now with no success, I can get the data in to where I think it should go but the gauges in QGC dont respond. (Ive not tested the motor output just yet)

So I am wondering does anyone know at which point a can sneakily change to the classes to inject our data? Im hoping to add Roll, Pitch, Yaw, Position (x,y,z) from arming, their velocities, eventually a current direction and speed of current ect.

Thank you very much, all input is appreciated!

Tom

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**Author:** ![rjehangir](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/rjehangir/32/671_2.png) [@rjehangir](https://discuss.bluerobotics.com/u/rjehangir)\
**Post date:** [October 9, 2017, 3:53am UTC](https://discuss.bluerobotics.com/t/classes-for-adding-external-imu-and-navigation-data/1563/2 "2017-10-09T03:53:41Z")

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Hi Tom,

Thanks for the post. I’m not familiar with a way to do this, unfortunately. I think it might be worthwhile to ask on the [main ArduPilot forums](https://discuss.ardupilot.org/). There are a lot more developers there and I’m sure there is someone who has done something similar.

-Rusty

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**Author:** ![olaya](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/olaya/32/1671_2.png) [@olaya](https://discuss.bluerobotics.com/u/olaya)\
**Post date:** [November 21, 2018, 12:21pm UTC](https://discuss.bluerobotics.com/t/classes-for-adding-external-imu-and-navigation-data/1563/3 "2018-11-21T12:21:02Z")

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Hi Tom,

I’m also interesting in adding an external IMU for the Bluerov2, do you have any news on how to do this?

Thanks!!

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**Author:** ![jwalser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/jwalser/32/2234_2.png) [@jwalser](https://discuss.bluerobotics.com/u/jwalser)\
**Post date:** [November 21, 2018, 3:02pm UTC](https://discuss.bluerobotics.com/t/classes-for-adding-external-imu-and-navigation-data/1563/4 "2018-11-21T15:02:05Z")

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See here: [External IMU with pixhawk](https://discuss.bluerobotics.com/t/external-imu-with-pixhawk/3575)