Have anyone got the seatrack USBL system from Blueprint Subsea got it intergrated into cockpit to show the Lat/Long on the overlay video?
Any help here is much appreciated.
Hi @Jhans -
If that USBL system produces an NMEA stream of position estimates, it can simply be routed to the vehicles autopilot. Once the vehicle “knows where it is”, it will show up on the map in Cockpit or QGround Control. The simplest way to so this is via the NMEA injector, but it is also possible to map Serial2 to a udpin port directly.
Any NMEA position stream can be parsed by the Navigator Autopilot. To receive the messages from a network-connected device simply configure the Autopilot parameters GPS_Type to NMEA, Serial2_Protocol to GPS, and verify no other Serial port # protocol is set to GPS. Finally, under Autopilot Firmware, Serial port Configuration, set Serial 2 to: udpin:0.0.0.0:27000. Then direct your UDP NMEA stream to the IP address of the BlueRov2. Note that these NMEA messages are required for navigation: RMC, GGA, VTG, HDT. This approach uses the ArduPilot driver to interpret the NMEA messages - you can also use the NMEA Injector in BlueOS, which has support for fewer messages. If using a serial connection to bring the NMEA position data to the Navigator serial port 3 or 4, set the appropriate Serial# Protocol parameter to GPS and restart the autopilot. NMEA messages should be sent at 10hz or faster.