ArduPilot Parameters
If your ArduPilot software is not set up for position hold, you will need to set up some parameters.
Log into BlueOS by connecting to the ROV and browsing to http://blueos.local http://192.168.2.2 -- this is the default address, if you have changed the ROV's IP address you will need to substitute it. You will see the following screen:
Click the Autopilot Parameters tile. You should land on this page:
Using the search and editing tools, change the parameter listed below to the given values. Don't forget to save the parameters after you change them.
Required Changes:
EK3_ENABLE: Enabled
EK2_ENABLE: Disabled
AHRS_EKF_TYPE: Enable EKF3
VISO_TYPE: MAVLink
GPS_TYPE: AUTO
EK3_SRC1_POSXY: ExternalNav
EK3_SRC1_VELXY: ExternalNav
EK3_SRC1_POSZ: Baro
RNGFND1_TYPE: MAVLink
RNGFND1_MAX_CM: 5000
Suggested Starting PIDs:
PSC_POSXY_P 0.6
PSC_POSZ_P 1.0
PSC_VELXY_D 0.2
PSC_VELXY_I 0.02
PSC_VELXY_P 4.0
PSC_VELZ_P 5.0
ACRO_YAW_P 4
ATC_RAT_YAW_FLTE 5
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