Water Linked launches: DVL A50 Doppler Velocity Log

Great, Thanks for the feedback!

Hi Blue Robotics Team,

Is their any plans afoot to integrate this awesome piece of technology into the blue robotics software. It opens up a new dimension of ROV control


Hi Michael,

Yes! We put together an integration quickly for the videos above and we are working on a proper integration of the DVL for position holding and eventually for navigation. We’re very excited about the possibilities that are opened up by this device!


1 Like

Hi Rusty

Very exciting…

Are there any plans to integrate higher end IMUs into the ArduSub framework?

The addition of a small sized DVL would allow full navigation for 1-2 hours in an INS/DVL configuration, but it would not be very accurate with the current IMUs contained in the likes of the Cube Orange.

With something like a Vectornav or Sensonor system, the BlueRobotics ROV (coupled to the WL DVL) could start to challenge some far more expensive systems.


@ColinC I’ve seen some work by the ArduPlane dev to integrate an ADIS16470 IMU for some of the newer autopilot boards in development. I don’t really know if you can use this as an “external IMU” just yet.

If you’re interested in using a Vectornav or Sensonor system, you should ask those companies to write a driver for ArduPilot. It’s an open project and having support will only sell more of their hardware so there’s some incentive for them.

Excellent idea - I have contacts in both companies so I will see what I can do.

Is there a link I can send them with any kind of guide for writing drivers? It is not something I have looked into,and I dont want to just direct them to the GitHub page…

Thanks for the help!



ArduPilot Developers: Sensor Drivers

1 Like

Hi all,

Just wanted to give you a heads up on the improvements in the upcoming 1.3.2 release:

  • Almost doubled the ping rate (up to 26Hz)
  • Increased max velocity in altitudes above 1.5m up to 3 m/s horizontal
  • Improved velocity valid
  • Add high temperature warning

It should be available for download in your DVL updater soon.


The 1.3.2 release is now available. We strongly recommend to upgrade to the latest release to get almost double the ping rate, higher max velocity and better velocity valid calculation out of your DVL A50.

To perform the upgrade, see software upgrade documentation here:

Is there now, or planned integration with Underwater GPS?
Traditional DVLs are often integrated to USBL/INS systems to get more stable positioning without the jumpings. Ie the DVL is sensing movements of ROV and if there is no moving, the positioning updates is more damped/averaged.

Underwater GPS <-> DVL-A50 integration is most definitely coming. As you say, this integration will increase the total performance significantly. I don’t have an absolute schedule for this, but it is very high on our list of priorities!

1 Like

Hi all,
We’ve bought a WL DVL; has the interface with the BlueROV2 been worked out yet ? We have a project we’d like to use it for in a couple of months, so keen to get it working.
Any advice appreciated !

Willian from Blue Robotics has been working on the DVL interface, which has reached a stage where it can be manually installed and tested. Last week our team at JM Robotics carried out a field test with the new interface, and it was very successful! If your project is in a few months it is very possible that the interface will be available by then, but I’d be happy to help you get your BlueROV running the experimental companion firmware beforehand if you’re interested.

1 Like

Hello @robins

I’d very much like that, if its possible. Is the interface depended on using a topside ?
For our project we need some sort of API to get the position/velocity

Perfect - will get in touch shortly

The interface runs on the companion, and is accessible through the Companion Web GUI. The interface itself receives inputs over TCP from WaterLinked’s Web GUI (documentation), so it may be easier to get the data directly from there. If you also need the vehicle’s position I believe you’ll have to instead parse mavlink messages, as the DVL only measures the vehicle altitude and relative velocities, which is later integrated by the EKF in Ardusub.


Hi Kristian,
How did your DVL connect to ROV2 before?Serial or Ethernet?


14 posts were split to a new topic: Water Linked DVL A50 Support

A post was split to a new topic: DVL-A50 Accuracy