GUIDED mode in Ardusub

Blue Robotics Software ArduSub
1

Hi!

I have a BlueROV2 heavy configuration with the Navigator and am trying to use it in GUIDED mode via Mavros. I have integrated a DVL-a50 and no GPS. My goal is to be able to set waypoints relative to its local coordinate system.

I am able to set the rov in GUIDED mode however as soon as I arm it, the thrusters goes in full force down without me setting any waypoint. I have tried limiting the speed with WPNAV_SPEED, WPNAV_SPEED_DN and WPNAV_SPEED_UP but still the same behavior. It seems that if it has a preset waypoint which I am unable to find what it is and also to override.

So my main key take away I would like from this is to get a better understanding of how GUIDED mode works for Ardusub. How do you set a waypoint? How do you get the current waypoint? How do you constrain its behavior with parameters? And this using mavros/mavlink.

Hope anyone can help with this.

1 Like
2

Hi I also have the same problem. Do you have any suggestions?

3

Same here. I wonder if there is any solution to this. Have you solved the problem?

4

Hi, sorry this seems to have been missed initially.

Can you clarify which ArduSub version you’re using?

Also, position-enabled modes expect a valid position estimate, which (with a relative positioning source like a DVL) requires an initial position to be specified. Are you doing that through the Water Linked DVL extension?

@williangalvani is the primary ArduSub maintainer, so may have some further insights, especially if you’re able to provide a DataFlash (.bin) log or telemetry (.tlog) log file where this behaviour occurred.