# Does Ardusub use Inertial and Compass data from the DVLA50?

**URL:** <https://discuss.bluerobotics.com/t/does-ardusub-use-inertial-and-compass-data-from-the-dvla50/10648>\
**Category:** Sonar and Acoustics\
**Tags:** water-linked, dvl, positioning\
**Created:** [September 20, 2021, 3:57pm UTC](https://discuss.bluerobotics.com/t/does-ardusub-use-inertial-and-compass-data-from-the-dvla50/10648 "2021-09-20T15:57:47Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![gcelec](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/gcelec/32/2038_2.png) [@gcelec](https://discuss.bluerobotics.com/u/gcelec)\
**Post date:** [September 20, 2021, 3:57pm UTC](https://discuss.bluerobotics.com/t/does-ardusub-use-inertial-and-compass-data-from-the-dvla50/10648/1 "2021-09-20T15:57:47Z")

</div>

Does the Kalman filter in Ardusub use Inertial and Compass data from the DVLA50 or the Pixhawk?

---

<div class="post-metadata">

**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\
**Post date:** [September 20, 2021, 9:44pm UTC](https://discuss.bluerobotics.com/t/does-ardusub-use-inertial-and-compass-data-from-the-dvla50/10648/2 "2021-09-20T21:44:40Z")

</div>

Hi @gcelec ,

No, not yet. The integration was done before that was available. Theoretically we _could_ switch to sending VISION\_POSITION\_ESTIMATE instead of VISION\_POSITION\_DELTA messages, but that will take some time to implement and experiment with.