Hi everyone, we are wanting to experiment with an untethered sub. It is hard finding any info on this inc the mission planning aspects. Currently we dont have a DVL unit but I am starting to think this is essential for untethered operations. Has anyone looked into this and found any useful information and where? Cheers
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Hi @andrewjamez -
Operating ArduSub as an AUV on an Auto mission is possible. From what I’ve seen, the typical user approach is to connect to the vehicle via WiFi with it at the surface. The mission is loaded / position of the vehicle set, and the mission is started with communications lost as the vehicle submerges. In order to navigate in auto mode, a position source is required - this can be provided by a DVL or other navigational source. If the vehicle stays at the surface, a normal GPS can be used.
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@tony-white do you know if operation of BlueROV2 is possible without a tether? I understand I will need something like a DVL and other software modifications to make this work, but I was wondering if the BlueROV2 has any software or hardware interlocks that disable the vehicle when the tether is not connected?
Hi @Cryptik, welcome to the forum 
Assuming you have a valid source of positioning information (e.g. a DVL, with an initial position configured), together with an autonomous mission for the vehicle to run, the only interlock type of feature would be the failsafes. By default the vehicle expects a heartbeat from the control station software, and also expects regular pilot inputs (although that check might be disabled in auto mode - I’m not sure).
If by “operation without a tether” you mean “wireless operation” then the main challenges would be around getting a sufficiently high bandwidth communications interface.
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