DVL integration for underwater UUV px4 for underwater autonomous flight

PX4 Autopilot
1

Hi,
I am working on underwater/aerial (amphibious) drone for surveillance purpose, since it is in underwater, i cant use GNSS for navigation, so in underwater its is fully GNSS denied navigation.

So i am planning to use DVL device for navigation since it provides position( from where its starts), attitude,velocity and covariance aswell.

Also i have developed a driver for DVL since it has UART port and i connected it to telem2 port.

Now i can able to get position, velocity and attitude data. but my question is where to publish the data as odometery. Vehicle_visual_odometry or Vehicle_mocap_odometry or Vehicle_Odommetry???

So basically i need to acheive underwater autonomous navigation via DVL and also i created a driver for DVL, so where to publish the data to get position mode lock availability?
for depth or altitude calculation i am using pressure sensor.
How to use these devices for autonomous navigation in underwater??

Note: since its is a low level autonomous, i am not using onboard computer , so i directly connected the components to cubeorangeplus AP.

Thanks in advance.

2

I would suggest you to dig a little on the PX4 documentation and explore how position data is fused and used by AP. that will give you the overview on the topic you’re tackling here.
As you may already know and experienced - there is a “right” way and “hacky” way of achieving the same results :slight_smile: