DVL A50 too hot message kills the Ardusub

Blue Robotics Software ArduSub
1

Hi all,

Found an issue with DVL A50 extension and ArduSub. When DVL overheats and sends “DVL is too hot” message, ArduSub just stops working. BlueOS shows N/A on current sensors, parameters can’t be fetched from ArduSub, and it shows heartbeat lost 255.

Only fix is rebooting the autopilot (not the whole system). But if the extension or DVL is still active, as soon as it gets another overheat message, ArduSub dies again. So it becomes a reboot loop until DVL cools down.

I get that DVL shouldn’t overheat, and this normally isn’t a problem once it’s in water. But during bench testing or debugging out of water, this gets pretty annoying. Before I set up a separate UBEC for DVL that I can switch with a relay, I used to just put a cold towel or heatsink on the bracket, which works fine to keep it cool. Disabling the sonar doesn’t help though, DVL still gets hot eventually.

Even without that, from a code logic standpoint, ArduSub shouldn’t lose heartbeat entirely just because one sensor sent a thermal warning. That part seems worth fixing on its own.

Cheers

2

Hi!

Thanks for reporting this. I suspect that the fact that we are sending the message with SysID:1 and CompID: 1 (a bug) is taking over the ardusub link from your mavlink router. What router are you using?

3

Hi @williangalvani

I am using standart stack for BlueROV Heavy config - > Navigator board (running on the ardusub 4.5.7) on the top rpi4 running on the BlueOS 1.4.3

If you need specific setting/log from the services can you point it out for clarification, so i can check it accordingly.

Thank you.

4

Hi @nurjan14

In BlueOS, in pirate mode, what do you have set at the top of the mavlink endpoints page? This is where the mavlink server type is selected.

Stable 1.4.5 was just released, it’s worth updating to see if that resolves your issue!