Me and @arend have been testing the DVL in our test tank last few days. We have some problems that the DVL driver restarting sometimes. The warning in QGC are “EFK3 IMU0, IMU1 stop aiding”. Someone that have the same problem?

@EliotBR A follow up to what I was asking about before. I am integrating a new DVL to another BROV using the new BlueOS “Companion”. I went through all steps to get it working and does. But when updating the parameters listed above, three of them do not appear at all, so I cannot update them. These …

Hi @Jnyberg , Make sure you are using the latest Ardusub 4.1.0 beta. 4.0 doesn’t support DVLs.

Thank you for that. I updated to 4.1 beta and got the DVL connected. Now when I connect to ROV, the DVL and Ping 360 Sonar ae working, but position hold is still acting up and depth hold is not working at all. When trying to use position hold the sub starts rotating around. When I try to use depth h…

[image] Julien Nyberg: When I try to use depth hold, QGroundControl says that the depth sensor is not connected. Can you confirm that BARO_PROBE_EXT is set to 768? [image] Julien Nyberg: When trying to use position hold the sub starts rotating around. If it’s not fixed by the depth se…

In addition to Eliot’s points, note that “stopped aiding” means the dvl stopped sending valid data. This probably means the dvl doesn’t have a good bottom lock.

Thank you that parameter seemed to be the problem!

For future reference, I was wondering if there is a new DVL Integration instruction page for the new BlueOS companion. I know there is this instruction page for the old companion ( DVL Integration · GitBook and Networking - Documentation ), but that doesn’t cover all steps needed to get the DVL workin…

Hi @Jnyberg , The DVL functionality is discussed in the External Integrations/Extensions topic, but isn’t yet documented in the main BlueOS docs . The general extension system isn’t yet developed, so in the interim the simplest way to set up the DVL is to Connect to the vehicle and follow the gett…

A new issue I am having is now when I’m testing in the tank. When trying to use position hold, I can activate it and it partially works. It is keeping vertical positioning but not horizontal. QGC also keeps giving me errors of “EFK3 IMU0, IMU1 stop aiding”. [image] So it seems that it can’t keep a…

[image] Julien Nyberg: So it seems that it can’t keep a steady connection. I also checked on the waterlinked page and it shows it not having valid velocity reason so that is part of the problem if not the problem. If there’s no valid velocity detected by the sensor then ArduSub isn’t receivin…

Water Linked DVL A50 Support

Third Party Products Sonar and Acoustics

Topic		Replies	Views
WaterLinked DVL A50 integration not working Sonar and Acoustics water-linked , dvl	42	7223	November 10, 2025
Ongoing DVL-A50 issues Third Party Products	43	4723	August 24, 2023
Unable to connect to DVL A50 Sonar and Acoustics dvl	14	2792	April 6, 2023
Companion 0.0.28 features in DVL branch Companion (Retired) positioning	36	2828	September 8, 2021
Integration of DVL into ArduSub on NVIDIA Jetson boards ArduSub	23	800	February 5, 2026

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