From f7385520b26218721771fecb9456b95069f4eada Mon Sep 17 00:00:00 2001 From: ES-Alexander Date: Thu, 30 Jul 2026 03:50:34 +0800 Subject: [PATCH 1/2] ArduRover: 4.7: BlueBoat: Default to GPS altitude Baro altitude doesn't work if the barometer is in a sealed hull. Also removes the default POSZ for the secondary and tertiary EKF instances, to match the no-default values for their other sensors. --- params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params b/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params index 701b17c..92a013b 100644 --- a/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params +++ b/params/ardupilot/ArduRover/4.7/Navigator/BlueBoat120.params @@ -299,17 +299,17 @@ EK3_RNG_M_NSE 0.5 EK3_RNG_USE_HGT -1 EK3_RNG_USE_SPD 2 EK3_SRC1_POSXY 3 -EK3_SRC1_POSZ 1 +EK3_SRC1_POSZ 3 EK3_SRC1_VELXY 3 EK3_SRC1_VELZ 3 EK3_SRC1_YAW 1 EK3_SRC2_POSXY 0 -EK3_SRC2_POSZ 1 +EK3_SRC2_POSZ 0 EK3_SRC2_VELXY 0 EK3_SRC2_VELZ 0 EK3_SRC2_YAW 0 EK3_SRC3_POSXY 0 -EK3_SRC3_POSZ 1 +EK3_SRC3_POSZ 0 EK3_SRC3_VELXY 0 EK3_SRC3_VELZ 0 EK3_SRC3_YAW 0 From 9e9edbf9a388fafd0181bce51d91063727f3c82b Mon Sep 17 00:00:00 2001 From: ES-Alexander Date: Thu, 30 Jul 2026 04:03:54 +0800 Subject: [PATCH 2/2] params: fix outdated Sub lights config --- params/ardupilot/ArduSub/4.5/navigator/Heavy BlueROV2.params | 4 ++-- .../ardupilot/ArduSub/4.5/navigator/Standard BlueROV2.params | 4 ++-- params/ardupilot/ArduSub/4.5/pixhawk1/Heavy BlueROV2.params | 4 ++-- params/ardupilot/ArduSub/4.7/pixhawk1/Heavy BlueROV2.params | 4 ++-- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/params/ardupilot/ArduSub/4.5/navigator/Heavy BlueROV2.params b/params/ardupilot/ArduSub/4.5/navigator/Heavy BlueROV2.params index 6713f4d..4bcfa81 100755 --- a/params/ardupilot/ArduSub/4.5/navigator/Heavy BlueROV2.params +++ b/params/ardupilot/ArduSub/4.5/navigator/Heavy BlueROV2.params @@ -11,7 +11,7 @@ SERVO11_FUNCTION: 0, // aux 3 SERVO12_FUNCTION: 0, // unused -SERVO13_FUNCTION: 59, // lights 1 -SERVO14_FUNCTION: 60, // lights 2 +SERVO13_FUNCTION: 181, // lights 1 +SERVO14_FUNCTION: 182, // lights 2 SERVO15_FUNCTION: 0, // unused SERVO16_FUNCTION: 7, // mount pitch diff --git a/params/ardupilot/ArduSub/4.5/navigator/Standard BlueROV2.params b/params/ardupilot/ArduSub/4.5/navigator/Standard BlueROV2.params index f403c2e..30a959f 100755 --- a/params/ardupilot/ArduSub/4.5/navigator/Standard BlueROV2.params +++ b/params/ardupilot/ArduSub/4.5/navigator/Standard BlueROV2.params @@ -11,7 +11,7 @@ SERVO11_FUNCTION: 0, // aux 3 SERVO12_FUNCTION: 0, // unused -SERVO13_FUNCTION: 59, // lights 1 -SERVO14_FUNCTION: 60, // lights 2 +SERVO13_FUNCTION: 181, // lights 1 +SERVO14_FUNCTION: 182, // lights 2 SERVO15_FUNCTION: 0, // unused SERVO16_FUNCTION: 7, // mount pitch diff --git a/params/ardupilot/ArduSub/4.5/pixhawk1/Heavy BlueROV2.params b/params/ardupilot/ArduSub/4.5/pixhawk1/Heavy BlueROV2.params index 262eff0..1a2c4a8 100644 --- a/params/ardupilot/ArduSub/4.5/pixhawk1/Heavy BlueROV2.params +++ b/params/ardupilot/ArduSub/4.5/pixhawk1/Heavy BlueROV2.params @@ -2,6 +2,6 @@ %include "../base.params" %include "../heavy.params" -SERVO10_FUNCTION: 7.0, -SERVO9_FUNCTION: 59.0, +SERVO10_FUNCTION: 7, // mount pitch +SERVO9_FUNCTION: 181, // lights 1 SERVO14_FUNCTION: -1, diff --git a/params/ardupilot/ArduSub/4.7/pixhawk1/Heavy BlueROV2.params b/params/ardupilot/ArduSub/4.7/pixhawk1/Heavy BlueROV2.params index 24fd9dc..99bc573 100644 --- a/params/ardupilot/ArduSub/4.7/pixhawk1/Heavy BlueROV2.params +++ b/params/ardupilot/ArduSub/4.7/pixhawk1/Heavy BlueROV2.params @@ -1,5 +1,5 @@ %include "../../hardware/boards/pixhawk1.params" %include "../base.params" %include "../heavy.params" -SERVO10_FUNCTION: 7.0 -SERVO9_FUNCTION: 59.0 +SERVO10_FUNCTION: 7, // mount pitch +SERVO9_FUNCTION: 181, // lights 1