# 6 thrusters configuration alternative

**URL:** <https://discuss.bluerobotics.com/t/6-thrusters-configuration-alternative/18059>\
**Category:** General Discussion\
**Created:** [September 20, 2024, 1:36pm UTC](https://discuss.bluerobotics.com/t/6-thrusters-configuration-alternative/18059 "2024-09-20T13:36:37Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Charles](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/charles/32/7214_2.png) [@Charles](https://discuss.bluerobotics.com/u/Charles)\
**Post date:** [September 20, 2024, 1:36pm UTC](https://discuss.bluerobotics.com/t/6-thrusters-configuration-alternative/18059/1 "2024-09-20T13:36:37Z")

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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.

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**Author:** ![Charles](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/charles/32/7214_2.png) [@Charles](https://discuss.bluerobotics.com/u/Charles)\
**Post date:** [October 2, 2024, 9:13pm UTC](https://discuss.bluerobotics.com/t/6-thrusters-configuration-alternative/18059/2 "2024-10-02T21:13:41Z")

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

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**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\
**Post date:** [October 3, 2024, 2:43am UTC](https://discuss.bluerobotics.com/t/6-thrusters-configuration-alternative/18059/3 "2024-10-03T02:43:08Z")

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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.