Mavlink pre positioning dive plan

General Discussion Research
1

Hello

Has Cockpit now got the facility to preprogram a seabed survey transect line ? and then the BR2 ROV will automatically follow the transect line from point A to point B ? what happens with regards to depth, does that need to be adjusted manually throughout the dive, or (for example) can it be set to hover 1 meter (or at a set depth) of the seabed ?

If possible, can you send the set instructions?

Thanks

2

Hi @Mac1 -
This has long been possible, in both QGround Control and Cockpit. However, this only works if the ArduSub autopilot is fed position information from a sensor like a DVL, or an acoustic locator like the WaterLinked UGPS or Cerulean Sonar’s Omnitrack / ROVL. Depth is set for each waypoint in the mission plan. See these instructions in the DVL guide.

A more common approach, that can be accomplished with or without position sensor is the use of SurfTrack mode. The system uses altitude from a Ping sonar or DVL, and maintains the users desired offset from the bottom as they drive around. This is not supported in Auto or Guided mode currently. It became available in versions of ArduSub starting with 4.5.

3

Hello Tony,

Thanks for the replies. I use a micronav positioning system, which is fed into Ardsub software via an NMEA router.

I will looking into setting a plan as per instructions

thanks