Testing our ROV to see if can help you. We are able to get our depth hold and position hold to work.
We are using GUI latest v1.0.2 on BlueOS DVL extension, with software version 2.2.1 on DVL as well.
Our Navigator firmware is 4.1.0 Stable
BlueOS version is 1.1.0 - beta 22
QGC version is 4.2.6
Since you said that you double checked your perimeters, everything should be fine there. I am curious about you not having WIFI for the BlueOS when it is working for your browser. Do you have the ROV in the water when you are checking that? Your ROV will lose wifi connection when submerged in the water, so when updated/changing software versions, you will need to take the ROV out of the water if that’s the case.
Overall my guess is that it is with the current Navigator firmware you are using. I can’t fully remember, but that issue seems familiar with when we were having position hold issues in the past.
Thanks for your assistance. Would have never occurred to me that ROV in water would affect Wifi connection as assumed it would be simply the topside computer adapter.
I switched the Navigator firmware 4.1.0 (Stable) and no change.
Installed 1.1.0 - beta 22 and no change. Note was running beta 23. I tried Beta, 24, 25, and 26 and none of them connect with DVL.
Installed newest Qground Control 4.2.8 no change.
Note select Position control via controller or screen and won’t turn on. Have solid bottom lock. Note also that altitude using rangefinder doe not display.
Can’t remember where that was to check again but thought seen on an information page. The DVL is connected via GUI in BlueOS and operates with good bottom fix. But I tried to access GUI be putting 192.168.2.95 in browser address bar and doesn’t connect / times out.
There is a catch all address you can type into your browser that I can’t remember what it is. It will open the dvl GUI as long as you are on the same subnet ie 102.168.2 something.
From memory you can also probably go into the settings page for the dvl through blue OS and change the IP address there. I’m guessing that it’s set to 192.168.2. xx - not 95, which is why you can see it through blue OS.
I tried changing from static to DHCP and same thing. DVL operates but not able to enable position hold. Went back to Static IP.
I have tried uninstalling DVL extensions in BlueOS and seeing if I could enter IP 192.168.2.95 in browerser to access DVL GUI and still can’t. Reinstalled DVL and back to same thing.
I didn’t believe your suggestion was right but decided to give it a try. I booted up ROV and noticed the in QGC that the rangefinder was showing 00’s instead of — for an altitude! Checked settings and stilled showed gateway and DNS 192.168.2.1. Tried Position Hold Mode with stationary in shallow water case and it enables now.
Powered down and tried again and still works. Days with at least a dozen of reboots of ROV did not work with exact same settings / parameters the entire time.
Put in tank and Position Hold does work but real jerky in vertical axis constantly. Does same in auto depth and stabilize. Turned off DVL and still jerking in auto depth. Rebooted and did not open DVL app and still jerking in auto depth. Videos in DropBox link that follows.
We think it must be a problem with the pressure sensor, or a calibration/connection issue with pressure sensor. Can you check the pressure sensor through the Mavlink Inspector?
You get there by clicking on the QGC icon in the top left corner, and clicking on analyze tools. Then go to MAVLink Inspector, there should be a tab that is titled SCALED_PRESSURE. You can check the plot to visualize the values over time to see fluctuations in the values.
SCALED_PRESSURE is used for the pressure sensor onboard the autopilot, so is a pressure reading from inside your enclosure. That’s generally more useful for aerial vehicles (e.g. for determining altitude of a drone), but can also help determine if there’s an excessive pressure in an enclosure.
The Bar30 measurements get reported via SCALED_PRESSURE2.
It appears this unstable jerking around does not have anything to do with depth sensor or DVL at all. It does it just in Stabilize Mode with DVL turned off.
I reset to factory defaults and still doing same thing. Went back to DVL and putting in recommended PID’s again and still doing same thing with or without DVL on.
So it doesn’t appear to be a software issue or sensor issue. When I monitor signals to the esc’s they are jumping around on couple of verts with what I assume is correlated to thrusts response.
There have been some recent issues with depth hold and stabilise mode being jerky. Could you try installing the latest beta release of ArduSub? They should hopefully be fixed there
I just tried to swap to a new navigator board with my previous set up OS beta 23. I was surprised to find in button setup grabber servo min / max now show Unknown 80 and Unknown 81. All the modes are simply enter mode 1, 2, 3, 4 etc.
Anyway just saw your message when looking on forum about above. I never tried to run with new navigator board so will swap out to original and try most recent version.
