How to get the IMU value of the DVL

Third Party Products Sonar and Acoustics
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1

Hello, I use the waterlinked DVL-a50.
Is there a way to get the IMU value installed in the DVL?
The DVL JSON does not include an item for IMU acceleration, so it seems like it is not easy to obtain.

Thank you in advance

2

Hi @nishida_yuki, welcome to the Blue Robotics forum! :slight_smile:

That question seems best posed to Water Linked, as they manufacture the device and develop its firmware.

The protocol docs you linked to mention that their json_v2 protocol added IMU output, but it’s unclear whether that includes the underlying sensor values (in some undocumented message), or just the orientation values provided in the dead reckoning report.