Nortek have recently finalised and published our BlueOS extension for the Nucleus1000 DVL, making it available via the extensions list within BlueOS. The driver for our BlueOS extension can be found here:
We will continue to keep an eye on conversations that are posted on the BlueRobotics community, but if anyone has specific support requests, please feel free to get in touch with us directly at support@nortekgroup.com
We also have an FAQ section which we constantly update with new topics regarding all things DVL:
It’s always exciting when there are more tools available for people to use, and especially so when there are clear guidelines on how to integrate them. Thanks for sharing!
To anyone interested, there’s a DVL comparison table in this comment, which I recently updated to include the Nucleus1000.
One thing I’m curious about - as I understand it one of its relatively unique features is current profiling. Is your BlueOS Extension set up to log that data as it goes, or does it “just” handle the velocity/position → MAVLink conversion for now to allow vehicle position estimation?
In addition to the velocity/position MAVlink conversion, the Nucleus logs all data to its internal SD card as you go. This means the ADCP (current profile) data will be stored for download either remotely or after the deployment via the Nucleus software, or the terminal window.
The same is true of all of its additional outputs - water track, pressure, temperature, altitude (from the vertical beam), and AHRS/IMU. All the user needs to do is configure these to be collected in the Nucleus software or via commands.
In the future we are hoping to allow logging through the extension display, as well as external locations too, so we encourage potential users to let us know where and how they might like to do this!
This is Farhang from Caretta Robotics Cyprus. Awesome to see that you have implemented this. We also have developed BlueOS extension for Nortek DVL1000 in our company. Seems handy.
@farhang have you considered sharing this publicly? We have documentation on how to make an extension available through the BlueOS store, and more device integrations are always welcome
To anyone who might be wondering, Nortek’s older DVL1000 and their new Nucleus1000 are different products. There are product links and a comparison of their major features in the spreadsheet linked to from my DVL comparisons comment.
We can certainly look into getting this implemented in the future, right now most additional features are being added via the Nortek Nucleus software itself, so I’d suggest downloading this and having a play with the built in demo dataset.
hi there. Asking here as i didnt get any reply from Nortek support email. just wondering if anyone here experienced able share the tuned PID values for Nucleus installed on BlueROV2 heavy? tried tuning it for couple days still wasnt satisfied with the position hold. Z axis seems spot on. thanks in advance. cheers
Hi Mel,
Thanks for posting on here! We have seen your support request which came in yesterday - our support department has a policy of responding within 24 hours of a request being submitted so you should have heard back now. We’re just waiting on some feedback from one of our development engineers on advice for tuning PID values.
Rory
Hi! We have both the Waterlinked DVL A50 and the Nucleus 1000 DVL. We managed to integrate both without major issues. However, it seems to me that the operation of the A50 is smoother than the Nucleus. For instance, the station-keeping with the A50 works perfectly, but with the Nucleus, we’ve experienced issues with positional stability. With the A50, even if we move the ROV away from its original position, it smoothly returns (with expected gradual position drift over time). On the other hand, with the Nucleus, the ROV struggles to return stably and continues oscillating when holding position.
Has anyone else experienced something similar? Could this perhaps be related to PID parameter tuning?
Thanks for posting! I work as a support engineer for Nortek. The PID parameters are definitely a likely suspect. I’ll reach out via our support email and we can get some more details of your system before we start troubleshooting.
I’ve received a message from your support team, thank you for that. However, after talking with our field operators, the issue still isn’t very clear. We’re waiting for more detailed feedback from the team to better understand what happened.
As soon as I have any additional information, I’ll post it here to keep everyone informed.
I will jump on this as well. Adjusting the PID parameters is one area that could help improving performance. Do you know if the PID parameters are different on the Nucleus setup and the A50 setup? if so, the PID parameters impacts the performance of the ROV rather than the Nucleus, if the parameters differ, try the same parameters that were used for the A50 setup.
Also, how is the Nucleus configured? is it sending both bottomtrack and AHRS packets? and at what frequency are these packets sent?
What were the parameter settings on the ROV? are they set according to the specifications in the documentation?
