DVL A50 integration with GPS position

[PeterM (Peter Miles)]

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.

[ryan354 (Ryan Febriansyah)]

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

[PeterM (Peter Miles)]

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?