Hello everyone,
We are developing an underwater profiler vehicle and we wonder if we could assess lateral drifting (along x-axis) from the measurements registered from the Navio 2 MPU in order to keep the vehicle near the deployment point. We had planned to command the lateral motors as a function of the current velocity, which is expected to range between 0.05-0.5 m/s. Our first approach was to integrate the linear acceleration along the x-axis, but the signal is low, practically constant and easily contaminated by the other axis signals.
Our second option is to use an external sensor to measure current velocity, such us a flowmeter. However we would prefer to use an internal sensor, if possible.
Does anyone know an approach to determine lateral displacement using the Navio2?
THANKS SO MUCH IN ADVANCE!!! 
Best regards
vero