DVL - Georeferencing video or exporting a timelog of lat long

[GavXYZ (Gav)]

We’ve successfully integrated the Waterlinked DVL with our BlueROV2 (w/ pixhawk & Pi).
The BlueRobotics documentation is very good for this.
However, it’s not clear to me how we can either log the latitude and longitude of the ROV with time or include the lat long in the telemetry.
I have no problem setting the initial position/co-ordinate and we can see the ROV on the map within QGroundControl which would lead us to believe that there is co-ordinate information hiding in there somewhere.
Is anyone able to offer some guidance?

[EliotBR (Eliot)]

Hi @GavXYZ,

I believe I responded to this when you asked a few weeks ago in a different post:

@EliotBR

The vehicle has internal DataFlash .bin log files, and QGroundControl also logs the MAVLink messages it receives during operation in .log telemetry logs, which can both be parsed using Log Viewer or programs like Pymavlink’s mavlogdump.py.

If you’re using .bin logs the VIS* messages give you the information ArduSub is receiving from the DVL extension, and the POS messages log the vehicle’s position estimate from ArduSub’s sensor fusion (its EKF). In .log files you can look at the GLOBAL_POSITION_INT message data, and possibly also any VISION_* messages that get passed along.

Feel free to follow up if you have additional questions

[GavXYZ (Gav)]

Eliot, my mistake. I remembered posting this but couldn’t find it. I see now that I originally commented on a similar thread. Hopefully the new keywords in this threads title 'georeferencing/DVL/lat/long will lead others to your answer.