Currently my team is working on a underwater ROV which has component similar BlueROV, such as Pixhawk, T200/T100 thrusters, Raspberry Pi 3 and Arduino Mega. We used mavros package and managed to extract the imu data. How ever we are not sure how to make the vehicle to balance itself in the water. We are concern that there will be a conflict when manual control by joystick and automated control by imu are communicating with the thrusters. Do you have any ideas how to implement this system whereby we can control the vehicle manually while the imu is also able to correct the position of the vehicle when it is off track.