There’s some further brief commentary on that here. Regardless, modes that require a position estimate understandably can’t be switched into without active position measurements, so you’ll need to fix the DVL connection/integration issue first.
ArduSub beta recently had a couple of updates that apparently messed up a default parameter for the depth sensor. The issue should be fixed if you
You will also need to set EK3_SRC1_POSXY and EK3_SRC1_VELXY to 6 (although I’m unsure if that’s just if you’re using BlueOS Beta instead of Companion).
Right, I’ve just confirmed that in QGC, so it seems our recommendation hasn’t been updated to match the new firmware.
I’ve put a comment about that in my documentation update pull request, but I don’t know what the new recommended value is so we’ll need to wait for the software team to be online tomorrow.
At this stage the DVL’s dead reckoning message isn’t used in the DVL integration - the position reported in QGC is calculated by ArduSub’s EKF3, which does its own dead reckoning by combining the autopilot’s IMU values with the DVL’s velocity measurements.