Altering/Creating my own PID controller for ArduSub

[EliotBR (Eliot)]

Hi @PerFrivik, welcome to the forum

@EliotBR

Detailed developer documentation is something we’re currently somewhat lacking in, and are working to improve. The main reference for ardusub is ardusub.com (which is currently undergoing a significant overhaul). As I understand it the current best reference for attitude control is from the ArduCopter attitude overview . It may also be helpful to look through the Searching Resources section of the How to Use the Blue Robotics Forums post

These are a couple of the forum posts that may be of interest:

• Turning BlueROV into Spiderman
• How to realize control allocation with BlueROV?

Beyond that, the main relevant parameters are the ATC Parameters, and the following conference presentations may also be applicable.

Controls update

I’ve also asked our software team if there are other resources that would be useful for this