Unable to Reconnect DVL on BlueOS

My Team is in the process of integrating the DVL-75 with BlueOS (upgraded since my last post) beta 21. We’ve got the extension installed and the DVL, seemingly, correctly wired up with the GPS connected as well. On the BlueOS screen the driver status dialog says it is unable to reconnect: Errno107 Transport endpoint is not connected, looking for dvl again… Initially, upon boot, the driver status will say running, but promptly become unable to reconnect.

Looking for any suggestions on how to troubleshoot and put the dvl to work.

I had the exact issue this morning. Make sure you don’t have anything setup in the NMEA Injector section of BlueOS

Thanks for that thought. Double checked and we’ve got nothing setup as a NEMA injector.

Have you updated the Cerulean DVL Extension to v1.0.8? There were some issues with v1.0.7 and earlier where BlueOS wouldn’t allow the extension to see other devices on the host network.

Can you go into the BlueOS Extension Manager, click “View Logs” for the Cerulean DVL Extension, and paste the output here?

I’ll note that this is a fresh install of the DVL and we’ve not gotten it to work on companion or other BlueOS versions yet. Yes, I’m using DVL extension v1.0.8

Logs Below: - - [24/May/2023 20:20:17] “GET / HTTP/1.1” 200 - - - [24/May/2023 20:20:18] “GET /register_service HTTP/1.1” 200 - - - [24/May/2023 20:20:18] “GET /docs HTTP/1.1” 404 - - - [24/May/2023 20:20:18] “GET /v1.0/ui/ HTTP/1.1” 404 -
2023-05-25 16:19:30.002 | DEBUG | dvl:report_status:93 - timeout, restarting
2023-05-25 16:19:30.003 | DEBUG | dvl:report_status:93 - Unable to reconnect: [Errno 107] Transport endpoint is not connected, looking for dvl again… - - [25/May/2023 16:19:33] “GET / HTTP/1.1” 200 - - - [25/May/2023 16:19:33] “GET /register_service HTTP/1.1” 200 - - - [25/May/2023 16:19:33] “GET /docs HTTP/1.1” 404 - - - [25/May/2023 16:19:33] “GET /v1.0/ui/ HTTP/1.1” 404 -
2023-05-25 16:19:40.006 | DEBUG | dvl:report_status:93 - timeout, restarting
2023-05-25 16:19:40.007 | DEBUG | dvl:report_status:93 - Unable to reconnect: [Errno 107] Transport endpoint is not connected, looking for dvl again…

I would also like to verify my wiring also just to make sure the serial connections aren’t the issue. Black → GND, Green → TX, White → RX on the Bluart board. The USB is connected to the Pi. Does it matter which port the USB A is connected to on the Pi?

The Cerulean BlueOS extension does not support serial connections to the DVL yet.
Would you be able to connect the DVL with ethernet?

Ahh interesting. I’ve got lots of follow up questions… We purchased the serial version of the DVL (presumably because companion was the OS back then?) how difficult would the switch to ethernet be? Is it simply replacing the cable and plugging an RJ45 into the back of the Pi? Is there a converter board that we’d need? Can you confirm that we should be going with the lower drawing on this wiring diagram? Where does the JST GH 4-pin connector get plugged into on the ROV interior?

Should I assume that switching to Ethernet would solve our software problems or are there other adjustments that need to happen?

Hey Mike,
Where you able to get the interface change to ethernet done? I made the switch, so I may be able to answer some of your questions.

Hey kdeboer,
I have not made the switch yet. I had to send the ROV sans DVL to the field. I hope to make the switch ASAP when it returns in a few weeks. Could you address some of the questions above? Particularly, where does the JST GH-4-pin connector get plugged in to? and if there is any additional hardware?


Hey Mike,

The DVL-75 manual shows the pinouts required for the internal ethernet port. You will need to use a new JST-GH connector, as the DVL-75 ethernet port is 8-pin. I replaced the cable as well on mine (I went with Bluetrail Engineering’s 8-pin ethernet cable/bulkhead). Inside the BR2, you will need an ethernet switch so both the RPi and the DVL-75 can connect to the Fathom-X. BlueRobotics sells a great little ethernet switch kit.
Once the wiring is done, follow the manual for finding and setting the DVL-75’s IP address.