MYGCS Heartbeat lost - Fiber Optic Cable

Blue Robotics Vehicles
21

Hi Tony,

Not really finding the time to go out after the last one.

But here is at least a bench testing that I can give you.

  1. With Cerulean DVL extension ON (including rangefinder).

cockpit-mavlink-dump-2026-07-31T17-32-33-542Z.jsonl (3.2 MB)

cockpit-mavlink-dump-2026-07-31T17-30-20-287Z.jsonl (3.7 MB)

  1. With Cerulean DVL extension OFF.

cockpit-mavlink-dump-2026-07-31T17-28-32-467Z.jsonl (2.0 MB)

Here is also the logs.

00417-2026-07-31_17-19-42.tlog (6.1 MB)

Cockpit (Jul 31, 2026 - 10꞉26꞉43 GMT-7).syslog (88.3 KB)

00000119.BIN (2.1 MB)

I will post again with actual data from the dive.

Thank you,

22

Hi @minskim88

We’re testing to see if the issues you’re having are related to the problems found in this pull request. Assuming you’re using standard 32bit BlueOS, this ArduSub firmware file attached here can be flashed from file under autopilot firmware.

ardusub_udpfix_32bits (2.2 MB)

In order to upload it I added a .txt extension, remove this before selecting it to flash!

Please let us know if this changes your results

23

Ok will give a go.

Will report once done

24

I had similar issues last year, as per this thread Cockpit stops working when DVL is active - #9 by 3dMB

Since using only sonarview, I have not had issues

25

Thank you @3dMB, for the thread. I dont think DVL-75 is compatible with Sonarview, hence I need the extension to send Vision_Position_Delta to mavlink2rest.

Havent had the time to flash the ardusub @tony-white , but it looks like “.txt” was not added?
All my other files show an extension for file type but except the

ardusub_udpfix_32bits

image
image782×380 12.4 KB

26

Hi @minskim88 -

That’s strange, does the extension show when you go to file properties? When you go to flash if you have issues definitely investigate the file extension…

27

Just shows up as

“file”

image
image390×182 4.22 KB

28

Ok, does it flash ok?

29

I did not flash it yet.

I was out on the field today and just ran as is.

I am now confident that DVL extension is causing the issue. I did upgrade the Ardusub to 4.7.0 couple days ago. Seemed like it was working for about ~20minutes or so with DVL extension on with “surftrak” mode. After certain disconnect and MYGCS heartbeat loss I remembered to log the dumps.

Here is dump file

without DVL extension

cockpit-mavlink-dump-2026-08-04T19-49-33-779Z.jsonl (4.3 MB)

with DVL extension

cockpit-mavlink-dump-2026-08-04T19-47-43-424Z_with_dvl.jsonl (3.5 MB)

At this point do you still recommend to go with the flash?with ardusub firmware?

Thanks

30

Yes, the issue the firmware addresses is very relevant to the DVL! It could potentially resolve your problems, please test and let us know

31

Good morning @tony-white ,

Ok firmware flash was okay and will be diving today.

Let you know how it goes.

Do you want me to collect dumps?

32

Hi @minskim88 -

Sure! Those and a autopilot .BIN log would be great!

33

@tony-white ,

Everything worked great today!

Except, under blueos page log browser was empty.

I went under File Browser and ardupilot_logs>firmware>logs to dig up these .BIN.

Let me know if this is not it.

00431-2026-08-05_19-18-07.tlog (9.0 MB)

00000123.BIN (7.5 MB)

Cockpit (Aug 05, 2026 - 13꞉07꞉24 GMT-7).syslog (78.2 KB)

cockpit-mavlink-dump-2026-08-05T20-10-11-151Z_w_DVL.jsonl (3.6 MB)

cockpit-mavlink-dump-2026-08-05T20-11-29-063Z_no_DVL.jsonl (2.9 MB)

34

Hi @minskim88 -

Thanks for the logs! It seems this build really has improved things:

image
image2544×788 203 KB

The team will continue testing and work to get it merged in! Thanks for your patience and time in testing this - considering the issue resolved!