6 thrusters configuration alternative

General Discussion
1

Bluerov2 use 6 thrusters but cannot achieve 8 vectored thrust. For this I understand that we need to go the heavy config way. You can then control roll and pitch on top of lateral, forward/backward and up/down axis.

The fifish also use 6 thrusters but only 2 for forward/backward and 4 for the up/down and left rigth control. My understanding is that the configuration also allow for fine tune of roll and pitch.

My question is simple can we convert a bluerov2 to this configuration? Will it necessary require to build a custom frame in ardupilot/ navigator?

Any reason why Blue Robotic did not choose this option right away?

Note that I may be wrong in my understanding and interpretation of this.

2

I do not like to push this up but I would really like opinion about this. 2 extra thrusters is not a trivial investment.

3

Hi,

Yes it does look like this design has full 6dof.
interesting!

Yes. you will need to define a new frame, but that should be all. I’m interested in helping with the software if you build the physical frame to test with.