Water Linked DVL Testing with BlueROV2 in Quarry

Adventure Log
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Small video made up of a number of hours of footage from a week in Portroe Quarry, Ireland. Big thanks to @williangalvani for the help received in setting up the firmware before we headed out. Ran position hold for about 4 hours total over the few dives with only two small hiccups. The DVL-A50 is definitely a great piece of kit.

I was in the quarry/dive centre with the Centre for Robotics & Intelligent Systems in the University of Limerick, http://www.mmrrc.ul.ie/dotnetnuke/mmrrc/Home.aspx who were preforming tests with the two larger ROVs as can be seen in the video.

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That DVL is a super cool product. I’d love to get my hands on one someday! They’ve made impressive strides in price, but hopefully they keep pushing to drive down cost.

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Hi Ben,

We’re having a few stability issues, could you please let us know what values you use for these parameters/PID in QGroundControl:

AHRS_EKF_TYPE 3
VISO__TYPE 1
EK3_ENABLE 1
EK3_GPS_TYPE 0

PID Tuning:
PSC_POSXY_P: 3
PSC_VELXY_P: 6
PSC_VELXY_D: 1

Thanks,
Rich

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Hi Rich,

All values used for the testing I did are as follows and as per the recommendations in the PR for creating the DVL service

AHRS_EKF_TYPE 3
EK2_ENABLE 0
EK3_ENABLE 1
VISO_TYPE 1
EK3_GPS_TYPE 3

PSC_POSXY_P 2.5
PSC_POSZ_P 1.0
PSC_VELXY_D 0.8
PSC_VELXY_I 0.5
PSC_VELXY_P 5.0
PSC_VELZ_P 5.0

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Perfect, cheers Ben !

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Hi Ben,
Can QGC display relative position,I want to use DVL for navigation.
Thanks

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Hello,
very interesting footage! Can I ask what version of the ArduSub are you using in order to use the position hold (with the DVL)?

Regards,
Ioannis

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You need to use Ardusub 4.1.0 beta and and the dvl companion branch. Here is the installation guide: DVL Integration · GitBook

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