Contents
1 Start NaviSuite Mobula Blue Robotics BlueROV2 ...................................................... 5
1.1 Network setup ............................................................................................................ 5
1.2 MAVLink version ........................................................................................................ 6
1.2.1 Use MAVProxy web interface ............................................................................... 6
1.2.2 Use SSH connection with the Raspberry Pi of the Blue Robotics ROV2 ............. 6
1.2.3 Navigator Control Board with BlueOS ................................................................. 9
1.3 NaviSuite Mobula Toolbar ........................................................................................ 10
1.3.1 Starting Sonar and DVL setup ........................................................................... 10
1.3.2 Starting Surface and Navigation ........................................................................ 11
1.3.3 Going online ....................................................................................................... 11
2 Blue Robotics BlueROV2 device configuration ......................................................... 13
2.1 Joystick configuration ............................................................................................... 13
2.1.1 Joystick Gains .................................................................................................... 14
2.1.2 Joystick direction ................................................................................................ 15
2.1.3 Rebinding Keys .................................................................................................. 15
2.1.4 Rebinding Axes .................................................................................................. 18
2.2 Thruster properties ................................................................................................... 18
2.2.1 Locating the Thruster properties window inside NaviSuite Mobula ................... 19
2.2.2 Individual thruster PWM setting ......................................................................... 22
2.2.3 Centre of mass correction .................................................................................. 22
2.2.4 Centre of buoyancy correction ........................................................................... 23
2.3 Sonar and DVL setup ............................................................................................... 23
2.3.1 How to open the config program ....................................................................... 23
2.3.2 Fitting default projects to a custom setup .......................................................... 23
2.3.3 Mobula suite repeater ........................................................................................ 28
2.3.4 Examples of how to use NaviSuite Mobula suite repeater ................................ 29
2.4 Channel Mapper ....................................................................................................... 30
2.5 Lights ........................................................................................................................ 32
2.6 Camera control ......................................................................................................... 34
3 Flight controls ............................................................................................................... 34
3.1 Joystick control ......................................................................................................... 35
3.2 Trim control .............................................................................................................. 37
3.3 Auto hold .................................................................................................................. 37
3.4 Responsiveness ....................................................................................................... 39
3.5 Go to waypoint ......................................................................................................... 40
3.6 Follow route .............................................................................................................. 43
3.7 Orbit .......................................................................................................................... 45
3.8 Scan Wall ................................................................................................................. 47
4 Blue Robotics BlueROV2 Utilities ............................................................................... 49
4.1 Utility window ........................................................................................................... 49
4.2 Frame Selection window .......................................................................................... 50
4.2.1 Creating a custom frame XML file ..................................................................... 51
4.3 Adding camera ......................................................................................................... 53
4.4 Video overlay ............................................................................................................ 57
4.4.1 Add overlay to video feed .................................................................................. 58
4.5 Dashboards .............................................................................................................. 62
4.6 Recording camera feed............................................................................................ 63
4.7 Recording live data .................................................................................................. 64
5 Compatibility ................................................................................................................. 67
6 Automated navigation - examples .............................................................................. 67
6.1 Initialising position .................................................................................................... 67
6.2 Go to waypoint ......................................................................................................... 72
6.2.1 Waypoint coordinates. ....................................................................................... 72
6.3 Follow Route example .............................................................................................. 76
6.3.1 Straight runline ................................................................................................... 76
6.3.2 S shaped runline with adjust target function ...................................................... 78
6.3.3 Lawn Mower pattern .......................................................................................... 82
6.4 Orbit .......................................................................................................................... 86
6.4.1 Automatic orbit control ....................................................................................... 86
6.4.2 Manual orbit ....................................................................................................... 87
6.5 Scan wall control ...................................................................................................... 88
6.5.1 Scan Wall control – example ............................................................................. 89