ROV navigation with GPS on sub firmware


I’m currently facing an issue with navigating my ROV similar to blue boat waypoint navigation on QGC.

Whenever I attempt to navigate, the ROV dives deeper. I’ve tried adjusting the altitude, but even with minimal depth, it still descends. Additionally, I lose GPS signal when it moves. Are there any parameters available that can help me navigate my ROV on the surface of the water like a boat?

Any insights or suggestions would be greatly appreciated. Thanks in advance!"

Hi @Sakthivelj,

  1. What kind of positioning sensor(s) are you using?
  2. What version of ArduSub are you running?

I believe this should work without particular parameter configuration, assuming the vehicle has a valid position estimate, and has been given mission waypoints that specify the altitude as 0m.