The build of a New Zealand ROV has begun! While waiting for the thrusters to arrive I thought I’d make a start on the ‘brains’ and thruster control. So far all working fine in dry tests using the Bluerobotics ROS package with simple_pilot. Quick picture attached - still to fix the esc’s to the fr…

I use MS5803. What amplitude are we talking? Did this occur spontaneously, while stationary? If so, was it continuous, or sporadic? I don’t think the sensor type will make a huge difference at this point, but I did have the gains up pretty high, so maybe.

Up to about 30cm amplitude, increasing in amplitude over time - spontaneous while stationary - not apparent while moving. I swapped to the MS5837-30BA a few weeks ago.

Setting POS_Z_P at 1.5 seems to have resolved the bounce

Jacob - I see that the github Ardusub master has been updated overnight, does this now include the commits you referred to above. The firmware you sent through is working great, so keen to get the source files, apply the few customization I need for my setup and then it’s off to try it out in the r…

@Andrew - Yes, I pulled in the most recent Depth-Control branch. Should be working great but I haven’t tested it in the tank yet. Feel free to jump into the developer chat on Gitter: bluerobotics/ardusub - Gitter . It’s a bit quicker than forums posts. -Rusty

Finally the planets aligned and the weather was fine on a non-work day! Today was the first sea trial and all went fantastically well. No leaks (for the first day out only went to 18m). Need to build a shade for the laptop though, very hard to see in sunlight. [image]

Screen shot of 17 F310 buttons [image]

Not a good day for the ROV today. I was exploring at a depth of about 5m when the display suddenly went blank and all comms were lost. I used the tether to retrieve the ROV and the endcap of the main tube was completly missing. :frowning: :frowning: All electronics have now had a saltwater bath …

@Andrew , Was it the front end cap of the main WTC? If so, a combination of very warm water in the area that you were diving plus the heating of the air within the WTC by the RPi/Pixhawk and any ESCs within the WTC probably caused an over-pressure condition that pushed the end cap out of the WTC at…

@andrew , Do you remember what the sea water temperature was that day? Are you on the North or South Coast of NZ? When I operated in the seas round the Philippines it was not unusual for injection temperatures to hover between 90 - 100 degrees F. The higher the sea water temperature the greater t…

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andrew (Andrew) January 1, 2017, 11:49pm 79

Hi @TCIII

Just tried the Pixhawk and it powered up and calibrated just fine

5 out of the 6 ESCs are dead though.

Seems that any components with high current flow at the time of flooding are dead. Low current devices are mainly OK for now.

ROV light placement

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