Out of curiosity, if I am using a DVL A50 with the Blue OS extension, should I expect to see a message like “EKF3 IMU0 is using ExternalNav” in my Ardusub logs at some point? The reason I ask is that I am using GPS at the surface and see messages like “EKF3 IMU0 is using GPS”. However, when I switch to the DVL using a process similar to those discussed in other posts, I never seem to see a message like “EKF3 IMU0 is using ExternalNav”.
Hi @bfraz,
There is a message for it, which I’d assume should be sent when external navigation support is engaged, though I’m unfamiliar with the nuances of when/whether that gets announced. From a brief look at the code it looks like it may only announce absolute positioning sources, and I’m unsure whether you’re changing the PosXY source as part of your switching.
Is the DVL-based positioning working as expected?