Waterlinked DVL EKF3 stopped aiding


I’ve recently switched the internals of our BlueROV from the pixhawk to the new blueos system, however I am having issues with the position hold mode. The DVL was integrated and working well with the pixhawk system for a long time. Ive followed the guides for updating to the new flight controller and for integrating the DVL but maybe I missed something. The attached image below shows something like the DVL driver reinitializing over and over or dropping in and out. Given this quite obviously the position hold mode wont work. It does seem to be working when the EKF3 doesn’t stop aiding.

Hi Ben -
Have you updated the necessary parameters in Ardusub so that it can use the DVL? As detailed here after DVL extension installation…