# DVL A50 integration with GPS position

**URL:** <https://discuss.bluerobotics.com/t/dvl-a50-integration-with-gps-position/17114>\
**Category:** BlueOS\
**Tags:** dvl, positioning\
**Created:** [June 10, 2024, 6:24pm UTC](https://discuss.bluerobotics.com/t/dvl-a50-integration-with-gps-position/17114 "2024-06-10T18:24:52Z")\
**Posts on this page:** 5\
**Page:** 2

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**Author:** ![PeterM](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/peterm/32/11879_2.png) [@PeterM](https://discuss.bluerobotics.com/u/PeterM)\
**Post date:** [March 11, 2026, 5:12am UTC](https://discuss.bluerobotics.com/t/dvl-a50-integration-with-gps-position/17114/21 "2026-03-11T05:12:23Z")

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Thanks @EliotBR .

> [@EliotBR](#):
>
> Which version are you testing with? The functionality PRs Willian linked to have been merged, but are currently only available in `master` (the daily “Dev” release, if downloading through BlueOS).

We’ve been using latest - greatest release rather than Master. So we can give testing with Master a shot.

> [@EliotBR](#):
>
> If you’ve configured the GPS to be connected, but not included in any of the EKF sources, then you could trigger the position feed-in from a Lua script or Cockpit Action.

We’ll give that a shot. We accept that there will be DVL outages and ideally we’d like to finish up at the surface and understand the deviation. So, it might look like a synch at the start and at the end.

> [@EliotBR](#):
>
> Have you checked for large jumps in the GPS position in the log? I’m curious if it was indeed a GPS issue, or caused by growing DVL error (which to some extent may be fixable in post).

We see minor jumps - like in the image I’ve shared in the thread above - and some major jumps. My gut says different causes but I don’t want to put a tonne of time into debugging if we’re moving away from EKF3 switching approach.

I’ll post an update after our next test.

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**Author:** ![ryan354](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/ryan354/32/13476_2.png) [@ryan354](https://discuss.bluerobotics.com/u/ryan354)\
**Post date:** [March 25, 2026, 12:52am UTC](https://discuss.bluerobotics.com/t/dvl-a50-integration-with-gps-position/17114/22 "2026-03-25T00:52:13Z")

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@PeterM I ended up going a slightly different route. I built a custom BlueOS extension that sets the initial position

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**Author:** ![PeterM](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/peterm/32/11879_2.png) [@PeterM](https://discuss.bluerobotics.com/u/PeterM)\
**Post date:** [April 7, 2026, 5:54am UTC](https://discuss.bluerobotics.com/t/dvl-a50-integration-with-gps-position/17114/23 "2026-04-07T05:54:19Z")

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Thanks @ryan354 . Question for you: If you set GPS\_TYPE to 14 (MAVLink) and use GPS\_INPUT messages are you then having to explicity read off your GNSS? We have a simple M9N Ublox module linked into the Navigator serial port. Any chance of sharing a link to your repo?

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**Author:** ![ryan354](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/ryan354/32/13476_2.png) [@ryan354](https://discuss.bluerobotics.com/u/ryan354)\
**Post date:** [April 27, 2026, 1:39am UTC](https://discuss.bluerobotics.com/t/dvl-a50-integration-with-gps-position/17114/24 "2026-04-27T01:39:13Z")

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Hi @PeterM , sorry — I misspoke earlier, I’m not actually using `GPS_INPUT`. The extension uses `SET_GPS_GLOBAL_ORIGIN` to set the initial position.I also can’t share the repo on this one. But yes, I read the GPS data directly from the Navigator’s GPS serial port, process it inside the extension, then forward it back out to the other devices (DVL, INS, etc.) in whatever format they need (NMEA, etc.).

The extension set the DVL starting point, I’m currently running a Cerulean DVL — their writeup covers the same approach: [https://docs.ceruleansonar.com/c/tracker-650/using-mavlink-and-blueos-for-position-hold-on-a-bluerov2/global-origin](https://docs.ceruleansonar.com/c/tracker-650/using-mavlink-and-blueos-for-position-hold-on-a-bluerov2/global-origin)

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**Author:** ![PeterM](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/peterm/32/11879_2.png) [@PeterM](https://discuss.bluerobotics.com/u/PeterM)\
**Post date:** [April 28, 2026, 8:54am UTC](https://discuss.bluerobotics.com/t/dvl-a50-integration-with-gps-position/17114/25 "2026-04-28T08:54:34Z")

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Thanks for the additional info @ryan354 !

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