# ArduSub **URL:** https://discuss.bluerobotics.com/c/bluerobotics-software/ardusub/16.md [Latest](https://discuss.bluerobotics.com/latest.md) · [Categories](https://discuss.bluerobotics.com/categories.md) · [Tags](https://discuss.bluerobotics.com/tags.md) --- ## [ArduSub presentation - ArduPilot Developer Conference 2026](https://discuss.bluerobotics.com/t/ardusub-presentation-ardupilot-developer-conference-2026/23778)
**Author:** [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Replies:** 1\ **Last updated:** [October 28, 2026, 11:10am UTC](https://discuss.bluerobotics.com/t/ardusub-presentation-ardupilot-developer-conference-2026/23778 "2026-10-28T11:10:40Z")
Hi everyone, I’ve realised we haven’t shared any info here yet about the ongoing ArduPilot developer conference, which may include talks and topics you’re interested in. The first day is over now, and @williangalvani a… --- ## [Navigator - RC Transmitter Set Up](https://discuss.bluerobotics.com/t/navigator-rc-transmitter-set-up/16898)
**Author:** [@Loick](https://discuss.bluerobotics.com/u/Loick)\ **Replies:** 3\ **Last updated:** [October 24, 2026, 7:48am UTC](https://discuss.bluerobotics.com/t/navigator-rc-transmitter-set-up/16898 "2026-10-24T07:48:52Z")
Hi there, I am currently setting up a couple of BlueBoats for testing of custom control algorithms. I would like to add RC communication as a backup if anything goes wrong. I successfully connected the RC receiver and … --- ## ["EKF Bad" warning from autopilot](https://discuss.bluerobotics.com/t/ekf-bad-warning-from-autopilot/23610)
**Author:** [@3dMB](https://discuss.bluerobotics.com/u/3dMB)\ **Replies:** 52\ **Last updated:** [October 22, 2026, 7:13pm UTC](https://discuss.bluerobotics.com/t/ekf-bad-warning-from-autopilot/23610 "2026-10-22T19:13:28Z")
Cockpit 1.19.0-beta10 keeps saying “f bad” on both ROVs. Any ideas? --- ## [ArduSub 4.7.1: Internal errors 0x400 cnstring\_nan when moving camera tilt servo](https://discuss.bluerobotics.com/t/ardusub-4-7-1-internal-errors-0x400-cnstring-nan-when-moving-camera-tilt-servo/23675)
**Author:** [@jfgonzalez010](https://discuss.bluerobotics.com/u/jfgonzalez010)\ **Replies:** 0\ **Last updated:** [October 1, 2026, 12:07am UTC](https://discuss.bluerobotics.com/t/ardusub-4-7-1-internal-errors-0x400-cnstring-nan-when-moving-camera-tilt-servo/23675 "2026-10-01T00:07:32Z")
Hello, I am troubleshooting a BlueROV2 with a Navigator autopilot and I have found a reproducible problem when controlling the camera tilt servo. Hardware BlueROV2 Navigator autopilot Raspberry Pi 4 Camera tilt servo … --- ## [Depth estimate suddenly changing (while positioning system enabled)](https://discuss.bluerobotics.com/t/depth-estimate-suddenly-changing-while-positioning-system-enabled/22810)
**Author:** [@Mac1](https://discuss.bluerobotics.com/u/Mac1)\ **Replies:** 70\ **Last updated:** [September 18, 2026, 10:49pm UTC](https://discuss.bluerobotics.com/t/depth-estimate-suddenly-changing-while-positioning-system-enabled/22810 "2026-09-18T22:49:02Z")
I am experiencing issues with the depth readings in cockpit, as it suddenly change—for example, showing 80 m and then jumping to 160 m,before returning to normal or not returning to normal. (it would appear sometimes to… --- ## [Develop auto tune mode for Ardusub on a custom 4-thruster ROV](https://discuss.bluerobotics.com/t/develop-auto-tune-mode-for-ardusub-on-a-custom-4-thruster-rov/23612)
**Author:** [@tranhaothien0911](https://discuss.bluerobotics.com/u/tranhaothien0911)\ **Replies:** 2\ **Last updated:** [September 18, 2026, 2:24am UTC](https://discuss.bluerobotics.com/t/develop-auto-tune-mode-for-ardusub-on-a-custom-4-thruster-rov/23612 "2026-09-18T02:24:18Z")
I am currently part of an ROV development team. We have designed a custom ROV frame that utilizes 4 thrusters in the following configuration: 2 vertical thrusters placed at the center of gravity, facing opposite directio… --- ## [Ardusub gazebo sitl heading issue](https://discuss.bluerobotics.com/t/ardusub-gazebo-sitl-heading-issue/23572)
**Author:** [@AbdelrahmanAshraf](https://discuss.bluerobotics.com/u/AbdelrahmanAshraf)\ **Replies:** 0\ **Last updated:** [September 10, 2026, 3:07pm UTC](https://discuss.bluerobotics.com/t/ardusub-gazebo-sitl-heading-issue/23572 "2026-09-10T15:07:44Z")
i am building a gazebo-sitl simulation using bluerov2 vectored frame but with our cadded model on manual mode the model drives perfectly but when i switch to depth hold mode the model flies to the water surface and s… --- ## [DVL A50 too hot message kills the Ardusub](https://discuss.bluerobotics.com/t/dvl-a50-too-hot-message-kills-the-ardusub/23513)
**Author:** [@nurjan14](https://discuss.bluerobotics.com/u/nurjan14)\ **Replies:** 3\ **Last updated:** [August 27, 2026, 4:01pm UTC](https://discuss.bluerobotics.com/t/dvl-a50-too-hot-message-kills-the-ardusub/23513 "2026-08-27T16:01:16Z")
Hi all, Found an issue with DVL A50 extension and ArduSub. When DVL overheats and sends “DVL is too hot” message, ArduSub just stops working. BlueOS shows N/A on current sensors, parameters can’t be fetched from ArduSub… --- ## [Integrating DVL A50 and Ping Altimeter on BlueROV2 Heavy: Position Hold & Custom Distance Hold](https://discuss.bluerobotics.com/t/integrating-dvl-a50-and-ping-altimeter-on-bluerov2-heavy-position-hold-custom-distance-hold/23456)
**Author:** [@trongtri](https://discuss.bluerobotics.com/u/trongtri)\ **Replies:** 2\ **Last updated:** [August 13, 2026, 6:51pm UTC](https://discuss.bluerobotics.com/t/integrating-dvl-a50-and-ping-altimeter-on-bluerov2-heavy-position-hold-custom-distance-hold/23456 "2026-08-13T18:51:18Z")
Hi everyone, I am currently working on a research and construction project for an underwater vehicle platform at Bach Khoa University, focusing on fundamental GNC (Guidance, Navigation, and Control) development. We are … --- ## [Issues with Navigator and Stabilize mode/Depth hold mode](https://discuss.bluerobotics.com/t/issues-with-navigator-and-stabilize-mode-depth-hold-mode/23328)
**Author:** [@Anrriu](https://discuss.bluerobotics.com/u/Anrriu)\ **Replies:** 23\ **Last updated:** [July 23, 2026, 6:11pm UTC](https://discuss.bluerobotics.com/t/issues-with-navigator-and-stabilize-mode-depth-hold-mode/23328 "2026-07-23T18:11:12Z")
Hello, i’m building a bluerobotics type rov with navigator in it. It runs normally and you can use it in NORMAL mode, but once you change to any mode it starts to turn around without stopping. I’m adding photos of the … --- ## [Issue with Pan & Tilt independence on Navigator: Pan triggers Tilt and has low power](https://discuss.bluerobotics.com/t/issue-with-pan-tilt-independence-on-navigator-pan-triggers-tilt-and-has-low-power/23218)
**Author:** [@ATLASUBSEA](https://discuss.bluerobotics.com/u/ATLASUBSEA)\ **Replies:** 2\ **Last updated:** [July 16, 2026, 12:21am UTC](https://discuss.bluerobotics.com/t/issue-with-pan-tilt-independence-on-navigator-pan-triggers-tilt-and-has-low-power/23218 "2026-07-16T00:21:02Z")
Hello everyone, I am trying to set up a camera with an independent Pan & Tilt mount on my ROV using the Navigator flight controller, but I am running into some strange behavior that I can’t seem to resolve. My current … --- ## [Using arduino in place of pixhawk or other flight controllers](https://discuss.bluerobotics.com/t/using-arduino-in-place-of-pixhawk-or-other-flight-controllers/23311)
**Author:** [@ROVaddict567](https://discuss.bluerobotics.com/u/ROVaddict567)\ **Replies:** 2\ **Last updated:** [July 11, 2026, 5:52pm UTC](https://discuss.bluerobotics.com/t/using-arduino-in-place-of-pixhawk-or-other-flight-controllers/23311 "2026-07-11T17:52:27Z")
I’m trying to build an ROV with my dad and I’ve decided to try and give it a much needed firmware upgrade. Until now, I’ve had a laptop in my control box taking controller inputs with a python script, and then sending th… --- ## [Pixhawk running Ardusub outputs max throttle PWM signal upon arming](https://discuss.bluerobotics.com/t/pixhawk-running-ardusub-outputs-max-throttle-pwm-signal-upon-arming/23270)
**Author:** [@fishbot](https://discuss.bluerobotics.com/u/fishbot)\ **Replies:** 11\ **Last updated:** [July 6, 2026, 9:00pm UTC](https://discuss.bluerobotics.com/t/pixhawk-running-ardusub-outputs-max-throttle-pwm-signal-upon-arming/23270 "2026-07-06T21:00:06Z")
Hi all, I have been having a really hard time getting my Ardusub-based system to work properly and could use some help. Context I have a Simple ROV-3 frame with three Blue Robotics T200 thrusters, each with the Blue Rob… --- ## [Optical Flow for ROV 2D Trajectory Mapping](https://discuss.bluerobotics.com/t/optical-flow-for-rov-2d-trajectory-mapping/23165)
**Author:** [@arfandiq](https://discuss.bluerobotics.com/u/arfandiq)\ **Replies:** 2\ **Last updated:** [June 25, 2026, 9:02am UTC](https://discuss.bluerobotics.com/t/optical-flow-for-rov-2d-trajectory-mapping/23165 "2026-06-25T09:02:00Z")
Hi everyone, Has anyone here used a Holybro PMW3901 optical flow sensor together with the Pixhawk IMU for underwater trajectory estimation or generating a 2D trajectory map? I’m currently planning to use a Raspberry Pi… --- ## [Need help configuring a custom 6-thruster vector layout (like FIFISH) in ArduPilot](https://discuss.bluerobotics.com/t/need-help-configuring-a-custom-6-thruster-vector-layout-like-fifish-in-ardupilot/22561)
**Author:** [@huang137](https://discuss.bluerobotics.com/u/huang137)\ **Replies:** 14\ **Last updated:** [June 8, 2026, 3:17pm UTC](https://discuss.bluerobotics.com/t/need-help-configuring-a-custom-6-thruster-vector-layout-like-fifish-in-ardupilot/22561 "2026-06-08T15:17:32Z")
Hi everyone, I’m new to ROV projects and have become deeply fascinated by them. I’ve noticed that the commercially available FIFISH achieves full 6-degree-of-freedom movement using just six thrusters. I’d like to replic… --- ## [How can EKF state be updated using external computation (e.g., SLAM)?](https://discuss.bluerobotics.com/t/how-can-ekf-state-be-updated-using-external-computation-e-g-slam/23051)
**Author:** [@Tak](https://discuss.bluerobotics.com/u/Tak)\ **Replies:** 11\ **Last updated:** [June 5, 2026, 2:58am UTC](https://discuss.bluerobotics.com/t/how-can-ekf-state-be-updated-using-external-computation-e-g-slam/23051 "2026-06-05T02:58:25Z")
Hi, We are developing a program to estimate the position of an underwater drone using SLAM. We are trying to apply the estimated position to the system, but we are having difficulty getting it to be accepted. Using po… --- ## [Custom frame ROV unstable in roll under ACRO mode — flips, sways, and loses depth](https://discuss.bluerobotics.com/t/custom-frame-rov-unstable-in-roll-under-acro-mode-flips-sways-and-loses-depth/23046)
**Author:** [@olivia](https://discuss.bluerobotics.com/u/olivia)\ **Replies:** 3\ **Last updated:** [May 21, 2026, 9:38pm UTC](https://discuss.bluerobotics.com/t/custom-frame-rov-unstable-in-roll-under-acro-mode-flips-sways-and-loses-depth/23046 "2026-05-21T21:38:35Z")
Hi all , I wanna figure out why our robot can’t achieve stable rolling under ACRO mode. It’s a 6dof underwater robot with 8 thrusters. I am using build-in motor matrix and my own 3D printing frame. It can achieve stable … --- ## [Pitch roll and barrel roll?](https://discuss.bluerobotics.com/t/pitch-roll-and-barrel-roll/22967)
**Author:** [@WileyP](https://discuss.bluerobotics.com/u/WileyP)\ **Replies:** 3\ **Last updated:** [May 13, 2026, 12:14am UTC](https://discuss.bluerobotics.com/t/pitch-roll-and-barrel-roll/22967 "2026-05-13T00:14:28Z")
I see 2 months ago an official video was posted showing the BR2 heavy doing barrel rolls and holding downwards pitch at nearly 90’ down. I can not get my unit to go past about 60’ any more even at 100% th… --- ## [Question about real-world constraints in ArduSub deployments](https://discuss.bluerobotics.com/t/question-about-real-world-constraints-in-ardusub-deployments/22930)
**Author:** [@ALBlue](https://discuss.bluerobotics.com/u/ALBlue)\ **Replies:** 9\ **Last updated:** [May 7, 2026, 4:25pm UTC](https://discuss.bluerobotics.com/t/question-about-real-world-constraints-in-ardusub-deployments/22930 "2026-05-07T16:25:39Z")
Hi, I’m currently studying subsea inspection systems for constrained coastal environments. I’d like to better understand real-world limitations of ArduSub in: low visibility conditions current-heavy environments … --- ## [Ardusub 4.1.0 working with waterlinked uw gps?](https://discuss.bluerobotics.com/t/ardusub-4-1-0-working-with-waterlinked-uw-gps/13294)
**Author:** [@Boko](https://discuss.bluerobotics.com/u/Boko)\ **Replies:** 28\ **Last updated:** [April 29, 2026, 6:00pm UTC](https://discuss.bluerobotics.com/t/ardusub-4-1-0-working-with-waterlinked-uw-gps/13294 "2026-04-29T18:00:38Z")
Hi! Before trying update to 4.1.0 (with companion), is waterlinked uw gps integration supposed to work with 4.1.0? Bo --- ## [How do I control an RGB LED matrix with the Navigator's RGB header pins in Python](https://discuss.bluerobotics.com/t/how-do-i-control-an-rgb-led-matrix-with-the-navigators-rgb-header-pins-in-python/22883)
**Author:** [@jahn87](https://discuss.bluerobotics.com/u/jahn87)\ **Replies:** 0\ **Last updated:** [April 27, 2026, 6:58am UTC](https://discuss.bluerobotics.com/t/how-do-i-control-an-rgb-led-matrix-with-the-navigators-rgb-header-pins-in-python/22883 "2026-04-27T06:58:52Z")
Hi, I was hoping to use the onboard RGB header pins to control an RGB LED matrix to indicate the current mode the BlueROV2 is in, but I can’t seem to get it working or find sufficient documentation for it. The matrix I’… --- ## [Descends During Forward Motion in Stabilize & Depth Hold](https://discuss.bluerobotics.com/t/descends-during-forward-motion-in-stabilize-depth-hold/22845)
**Author:** [@Sakthivelj](https://discuss.bluerobotics.com/u/Sakthivelj)\ **Replies:** 3\ **Last updated:** [April 21, 2026, 7:52am UTC](https://discuss.bluerobotics.com/t/descends-during-forward-motion-in-stabilize-depth-hold/22845 "2026-04-21T07:52:34Z")
Hi, We are facing an issue while operating our ROV. When we move the joystick forward, the ROV moves forward correctly, but at the same time it slowly goes down (loses depth) even without any down command. This behavi… --- ## [Forcing ekf to follow External Heading](https://discuss.bluerobotics.com/t/forcing-ekf-to-follow-external-heading/22516)
**Author:** [@jmrobsam](https://discuss.bluerobotics.com/u/jmrobsam)\ **Replies:** 6\ **Last updated:** [April 16, 2026, 11:21pm UTC](https://discuss.bluerobotics.com/t/forcing-ekf-to-follow-external-heading/22516 "2026-04-16T23:21:40Z")
Hello guys! Did anyone ever try to use an external heading, from GPS\_INPUT or ExternalNAV system, to the ardupilot? Is there a way to make the EKF to blindly follow the ExternalNav heading? For my case, there are some d… --- ## [SpeedyBee F405 WING and Bar30 Depth Sensor not working](https://discuss.bluerobotics.com/t/speedybee-f405-wing-and-bar30-depth-sensor-not-working/16512)
**Author:** [@vaizaragorn](https://discuss.bluerobotics.com/u/vaizaragorn)\ **Replies:** 1\ **Last updated:** [April 13, 2026, 9:15am UTC](https://discuss.bluerobotics.com/t/speedybee-f405-wing-and-bar30-depth-sensor-not-working/16512 "2026-04-13T09:15:17Z")
Hey, I’ve been building different kinds of ROV’s for a year now, and I’ve been using BlueRobotics parts mostly. Couple days ago I wanted a cheap alternative as an autopilot for a project of mine and decided to use Speedy… --- ## [Using VO with EKF in Ardusub](https://discuss.bluerobotics.com/t/using-vo-with-ekf-in-ardusub/22574)
**Author:** [@Haadi](https://discuss.bluerobotics.com/u/Haadi)\ **Replies:** 4\ **Last updated:** [April 4, 2026, 8:28am UTC](https://discuss.bluerobotics.com/t/using-vo-with-ekf-in-ardusub/22574 "2026-04-04T08:28:56Z")
Hi! Me and my team are actually trying to use the EKF implemented in Ardusub to get a telemetry for our AUV. We are actually thinking of using VO to provide inforamtion as update step for the EKF. But I am currently not … --- ## [Trouble mapping additional motors and servos](https://discuss.bluerobotics.com/t/trouble-mapping-additional-motors-and-servos/22701)
**Author:** [@tanks23](https://discuss.bluerobotics.com/u/tanks23)\ **Replies:** 2\ **Last updated:** [March 26, 2026, 7:20pm UTC](https://discuss.bluerobotics.com/t/trouble-mapping-additional-motors-and-servos/22701 "2026-03-26T19:20:02Z")
I am currently building a wired underwater ROV using a Pixhawk 2.4.8 , QGroundControl and blueOS and mapping the controls to a Logitech Extreme 3D pro Joystick. I have 6 motors that move with the joystick but i want to m… --- ## [ROV continuously yawing – same firmware, params, and hardware](https://discuss.bluerobotics.com/t/rov-continuously-yawing-same-firmware-params-and-hardware/22632)
**Author:** [@Ferbin](https://discuss.bluerobotics.com/u/Ferbin)\ **Replies:** 5\ **Last updated:** [March 19, 2026, 7:04pm UTC](https://discuss.bluerobotics.com/t/rov-continuously-yawing-same-firmware-params-and-hardware/22632 "2026-03-19T19:04:47Z")
Hi blue robotics team, Our ROV has started continuously yawing in one direction in Manual and Stabilize modes, even with no joystick input. What’s confusing is that nothing has changed since the last test: Pixhawk 2… --- ## [Circle mode with Zed camera](https://discuss.bluerobotics.com/t/circle-mode-with-zed-camera/22595)
**Author:** [@AbdelrahmanAshraf](https://discuss.bluerobotics.com/u/AbdelrahmanAshraf)\ **Replies:** 9\ **Last updated:** [March 9, 2026, 9:09pm UTC](https://discuss.bluerobotics.com/t/circle-mode-with-zed-camera/22595 "2026-03-09T21:09:48Z")
Hello I need to make an orbit around object with facing the Object and with constant radius So i used the circle mode and use Zed/pose topic from zed Ros2 wrapper as a position reference The problem is when i run the … --- ## [ArduPilot-4.7.0-beta1 available for beta testing!](https://discuss.bluerobotics.com/t/ardupilot-4-7-0-beta1-available-for-beta-testing/22584)
**Author:** [@rmackay9](https://discuss.bluerobotics.com/u/rmackay9)\ **Replies:** 0\ **Last updated:** [March 7, 2026, 2:34am UTC](https://discuss.bluerobotics.com/t/ardupilot-4-7-0-beta1-available-for-beta-testing/22584 "2026-03-07T02:34:38Z")
ArduPilot-4.7.0-beta1 has been released for beta testing including the Sub firmware. For this release we are planning to syncronise the Sub software with the other frames (Copter, Plane, Rover, etc) in the hopes that th… --- ## [Arbitrary Yaw Angle when Set Mode to STABILIZE and ALT\_HOLD](https://discuss.bluerobotics.com/t/arbitrary-yaw-angle-when-set-mode-to-stabilize-and-alt-hold/22543)
**Author:** [@Lexciese](https://discuss.bluerobotics.com/u/Lexciese)\ **Replies:** 2\ **Last updated:** [March 5, 2026, 2:00pm UTC](https://discuss.bluerobotics.com/t/arbitrary-yaw-angle-when-set-mode-to-stabilize-and-alt-hold/22543 "2026-03-05T14:00:12Z")
When i set the AUV to STABILIZE or ALT\_HOLD, the AUV will turn to some yaw angle direction. Is it normal behavior for the AUV? Every time the pixhawk restarted, the yaw angle at start up is changing and it seems to be ar… [Next page](https://discuss.bluerobotics.com/c/bluerobotics-software/ardusub/16.md?page=1)