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Copy file name to clipboardExpand all lines: docs/dvl/dvl-troubleshooting.md
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@@ -26,8 +26,8 @@ If the troubleshooting guide do not help, please check out [FAQ DVL](../dvl/faq.
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1. The Line of sight should be clear of any obstacles including walls, see [Line of sight](dvl-a50.md#line-of-sight).
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- 1.1 One easy way to make sure the Line of sight is clear from any walls is to observe that all beam shows approximately the same distance to the bottom. If some of the beams are flickering or showing another distance it might pick up a reflection from a wall or some other obstacle in the line of sight. Obstacle free radius from the DVL to the wall depending on the distance to the bottom can be calculated with this formula: **Obstacle free radius** = tan(32.5°) × **distance from DVL to bottom**.
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2. If testing in a pool, tank or bucket it should **not** be made out of a **polished metal** or very clean surfaces. This can introduce more noise and make it harder for the DVL to get a bottom lock.
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3. Check that there are no motors, echo sunders, pumps, running house. This can create noise in the same frequency as the DVL and have an impact on the acoustic signal.
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4. Make sure the environment is not acting on the DVL in a way that makes it pitch and yaw (waves). That will send the acoustic signal in many directions making it hard to achieve a bottom lock.
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3. Check that there are no motors, echo sunders, pumps, running hose. This can create noise in the same frequency as the DVL and have an impact on the acoustic signals.
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4. Make sure the environment is not acting on the DVL in a way that makes it pitch and yaw (waves). That will send the acoustic signals in many directions making it hard to achieve a bottom lock.
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## Thermal Shutdown
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The DVL has a thermal shutdown mechanism to avoid damage. It will issue a warning before shutting down at 55℃. Once it cools below 50℃, it automatically restarts. If the overheating issue is not addressed, it may repeat this shutdown/restart cycle.
-*An example can be downloaded from here: [3D step file](./stp_files/sonar_mount_1.stp)*
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- Correct screws
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-*See the [Mounting](#mounting) section*
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- 2 spade connectors *(or ring terminals)*
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- A JST 4-pin connector
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- WetLink Penetrator 6.5 *(low-compression)*
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-*[WetLink from Blue Robotics](https://bluerobotics.com/store/cables-connectors/penetrators/wlp-vp/)*
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- Ethernet Switch board
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-*Make sure you have an Ethernet Switch installed on your BlueROV2. This is needed for the integration of the Sonar 3D-15. The installation guide for the Ethernet Switch can be found here:*[Ethernet Switch Installation Guide from Blue Robotics](https://bluerobotics.com/learn/ethernet-switch-installation-guide-for-the-bluerov2/)
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## Prerequisites
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Before starting the integration, ensure you have all the necessary tools and parts ready.
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### Tools Required
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- Soldering iron and solder
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- Wire strippers / cutters
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- Heat gun or lighter (for heat shrink)
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- Small flathead screwdriver
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- Hex key set (for opening ROV and mounting)
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### Parts Required
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-**[BlueROV2 Roof Rack](https://bluerobotics.com/store/rov/bluerov2-accessories/rov-roof-rack/)**: To mount the sonar.
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-**Sonar Mount**: Custom mount for Sonar 3D-15.
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-*Download the example [3D step file](./stp_files/sonar_mount_1.stp)*
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-**Mounting Screws**:
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- 4x M4 screws (length depends on mount thickness) for Sonar-to-Mount.
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- 4x M4 screws + nuts + washers for Mount-to-ROV.
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-**Connectors**:
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- 2x Spade connectors (or ring terminals) for power.
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- 1x JST 4-pin connector (GH type usually used with BlueROV2 devices, verify pitch).
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-**[WetLink Penetrator 6.5mm (Low Compression)](https://bluerobotics.com/store/cables-connectors/penetrators/wlp-vp/)**: For passing cable into the enclosure.
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-**Ethernet Switch**:
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- Must be installed in the BlueROV2. See [Ethernet Switch Installation Guide](https://bluerobotics.com/learn/ethernet-switch-installation-guide-for-the-bluerov2/).
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---
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## Connector Setup
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## 1. Prepare the Connectors
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**Testing the Sonar 3D-15 Separately**
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If the I/O Interface board is attached, the Sonar 3D-15 can be tested directly using an Ethernet cable and a power supply. If you wish to test the device on its own before integration, follow the general Quickstart tutorial, available here: [Quickstart](https://docs.waterlinked.com/sonar-3d/sonar-3d-15-quickstart/).
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---
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## Mounting
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The Sonar 3D-15 needs to be physically attached to the BlueROV2 ROV. A possible option on how to do this will be listed here. There are many different approaches to achieve this, and this approach is only listed to provide an idea.
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## 2. Mount the Sonar
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Proper mounting is critical for accurate sonar performance.
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1.**Create or find a suitable mount**
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### Recommended Mounting Procedure
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An example 3D step file of a mount is found here: [Download 3D step file](./stp_files/sonar_mount_1.stp)
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1.**Prepare the Mount**
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If you haven't already, print or machine the mount.
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-[Download 3D step file](./stp_files/sonar_mount_1.stp)
Choose a 3D print material that can withstand the expected operating conditions.
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2.**Identify the screws and mount to use**
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Choose a material (like PETG or ABS) that can withstand the marine environment.
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Use `[M4x (5.0 + X) mm]` screws to attach the Sonar 3D-15 to the mount, and use `[M4x (9.0 + X) mm]` screws with hex nuts and washers to attach the mount to the BlueROV2 Roof Rack. Exchange the *X* with the thickness of your mount.
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For example, for a 3.0mm thick mount *(as the given 3D print)*, the following is sufficient:
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2.**Attach Sonar to Mount**
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Secure the Sonar 3D-15 to the mount using **4x M4 screws**.
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- Length = `5.0mm + Mount Thickness` (e.g., 8mm screws for a 3mm mount).
4.**Attach the mounted Sonar 3D-15 to the BlueROV2 ROV**
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We recommend putting the Sonar 3D-15 on the BlueROV2 Roof Rack in the front for the BlueROV2. In that way, the Sonar 3D-15 will not block the Sonar 3D-15’s field of view.
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3.**Attach Assembly to ROV**
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Mount the assembly to the **BlueROV2 Roof Rack**, preferably at the **front** to ensure a clear field of view.
Make sure the Sonar 3D-15 and cable are neatly and securely attached before use.
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---
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## Connection steps
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### 1. **Make your ROV ready for launch**
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Follow the [BlueROV2 Software Setup](https://bluerobotics.com/learn/bluerov2-software-setup/) guide to make your ROV ready for launch. This shows how to turn on the ROV and what software to install.
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The Sonar 3D-15 will now show a green light, indicating it is powered.
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### 2. **Access the Sonar 3D-15 GUI**
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We recommend installing the **[Sonar 3D-15 extension](https://github.com/waterlinked/BlueOS-Sonar-Extension)** found in the [BlueOS extension manager](https://www.google.com/search?q=https://blueos.cloud/docs/latest/usage/advanced/%23extensions-manager). If you use the extension, you can skip directly to **Connection Step 3**. Otherwise, follow the procedure below to connect manually.
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## 3. Configure Software & Network
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The Sonar 3D-15 GUI can be accessed by entering the Sonar 3D-15's IP-address into the browser running on the computer connected to the ROV.
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### Step 1: Prepare the ROV
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Power on the BlueROV2 and ensure it is connected to your computer.
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- Follow the [BlueROV2 Software Setup](https://bluerobotics.com/learn/bluerov2-software-setup/) if needed.
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-**Verify**: The Sonar 3D-15 should show a **green light**, indicating it is powered.
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You have to determine which IP-address has been automatically assigned to the Sonar 3D-15 by the BlueRov2 system. Steps to find it follows below. Once located, entering it in your browser will display a page like the one below — in this example, the Sonar 3D-15 is assigned the IP-address `192.168.2.172`.
We recommend using **Cockpit** for the best experience.
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!!! Warning
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Don't operate the Sonar 3D-15 out of water for any long periods. To avoid overheating of the Sonar 3D-15, **don’t click the green button “Enable Acoustics”**, until the ROV is submerged in water.
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Acoustics is always disabled when first booting up the Sonar 3D-15, and will be turned on once clicking this button. The Sonar 3D-15 will automatically turn itself off if too hot, but will take some time to cool down, it's best to avoid this happening.
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Find the IP-address corresponding to the Sonar 3D-15 on a computer by doing the following:
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1.**Find the IP-address of your computer on the BlueROV2 network**
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You need your own network IP-address on the BlueROV2 network.
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On **Linux** you find it by typing in:
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```sh
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ip a
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```
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in the terminal.
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On **Windows** you find it by typing in:
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```sh
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ipconfig
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```
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!!!Tip
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It's easier to find your IP-address if your computer is connected only to the BlueROV2 network.
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1. Open Cockpit and click the **collapse handle** on the left.
2.**Enable Acoustics**: In the Sonar GUI (now visible in Cockpit), click the green **"Enable Acoustics"** button.
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A quick easy way to see the IP-addresses of the devices on your local network is to use [nmap](https://nmap.org/download.html). Install it for your operating system and go to the terminal and write
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```sh
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nmap -sn <YOUR_IP>
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```
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This will scan the BlueROV2 network and show all accessible connected devices and their IPs.
To find the IP-address of the Sonar 3D-15, try the IP-addresses on the list by typing them into the search bar of your browser.
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- For example, if you have the list above, try `192.168.2.2`, `192.168.2.136`, `192.168.2.172` and so on. You may try them all safely.
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If the Sonar 3D-15 GUI appears, you have found the correct IP-address.
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!!! Tip
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You can also access the GUI on the Sonar 3D-15's fallback address `192.168.194.96`. This method is explained in more detail on the general quickstart guide, which can be found at [Quickstart](https://docs.waterlinked.com/sonar-3d/sonar-3d-15-quickstart/) .
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### 3. ***(Optional)* Open Cockpit with the Sonar 3D-15 GUI**
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We recommend using **Cockpit**, a new, highly customizable ground control station software from Blue Robotics. More information about Cockpit can be found here: [Cockpit Information](https://discuss.bluerobotics.com/t/cockpit-1-0-0-release/17744), and it can be installed from here: [Install Cockpit](https://github.com/bluerobotics/cockpit/releases/tag/v1.15.2).
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Once Cockpit is installed and the BlueROV2 is ready for launch, you will see the Cockpit GUI, as shown in the following picture. Click the **collapse handle** on the left to reveal the GUI options.
Instead of `http://blueos-avahi.local`, enter the IP-address for the Sonar 3D-15, as found in the previous step. In this example, the IP-address is `http://192.168.2.172`. Press *Enter* on your keyboard, then close the settings panel.
**Success!** You are now ready to use the Sonar 3D-15.
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### 4. **Enable acoustics**
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---
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When ready, click the ”Enable acoustics” button to initiate the Sonar 3D-15. It will display a 3D point cloud in the GUI representing the area in front of the Sonar 3D-15.
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