What would the process be for modifying the BlueBoat to work with one motor and a rudder servo instead of skid steering? The controls have to be modified for a specific application where skid steering will not work. So far I have disabled one motor and added a Ground Steering servo in the parameters, I’m getting an error “pre arm check skid steering config” due to one motor being disabled. I’m not seeing a way to reconfigure it to work without skid steering using the boat frame.
Hi @Noah, welcome to the Blue Robotics forum
This is an autopilot configuration question for a control type that Blue Robotics doesn’t directly support, so I expect you’ll likely get better responses to this kind of question in the more general ArduPilot forum, which includes an ArduBoat category.
From the documented output functions, I’d guess you need to change the non-disabled motor to a generic Throttle
output rather than one of the left/right sided throttle outputs that are dedicated to skid-steering vehicles - hope that helps
Hi @Noah -
I’m very curious why your application isn’t possible with skid steering! The BlueBoat turns in place, and is very maneuverable. Can you share more on what’s motivating you to install a rudder?
Hi Tony, just looking into the same thing with this. Although I would continue using both motors but add a servo on each. This is incase I have a motor fail then I can still recover the blue boat under its own power. With out this the boat would just be sailing in circles.
Hi @Blizzard257
The BlueBoat hull design tracks very straight, I’m not sure adding a servo to adjust the angle of thrust would have much affect, especially in one-motor driving scenarios. A failure of a motor is a very unlikely occurence! I have had one or both props get severely damaged by operating in close proximity to rocks - the vehicle still was drivable, even in auto mode - it just used more power and was a bit slower.
On another occasion I lost a prop completely (had not properly tightened it in place) - the BlueBoat did not “sail in circles”, but still tracked a fairly straight line, albeit without the ability to turn…
Adding a servo could be challenging, especially without reducing the water that flows into the back of the motor when underway providing cooling…