The recent ArduSub 4.5.5 release includes some changes to how some of the autopilot’s PWM outputs (SERVOn_FUNCTION parameters) and joystick buttons (BTNn_FUNCTION parameters) are configured, to make things more customisable and hopefully less confusing.
⚠️ If you have an existing vehicle, updating to 4.5.5 will stop those peripherals from working properly until the relevant parameters are configured. It is recommended to update to 4.5.6 instead.
For an easy transition using 4.5.5, gripper users will need to set the SERVOn_FUNCTION parameter (for the pin your gripper is connected to) to the corresponding ActuatorN output:
Gripper pin
Parameter
Value
Navigator 9 / Pixhawk AUX1
SERVO9_FUNCTION
Actuator1 (184)
Navigator 10 / Pixhawk AUX2
SERVO10_FUNCTION
Actuator2 (185)
Navigator 11 / Pixhawk AUX3
SERVO11_FUNCTION
Actuator3 (186)
For now, BlueOS will not yet present the new parameter options in the drop-downs (so new values may need to be set manually), and Cockpit will only present the old servo_n_* button functions (which only work for the first 3 actuator outputs).
We’re working on updates to BlueOS, Cockpit, and our default parameter sets to reflect these changes, and to provide warnings if a mix of old and new configurations is detected. We’re also working on a further ArduSub update to try to automatically transfer old configurations to match the new one after a firmware update, but because the old options are still valid there is some complexity in doing so.
We’re also working to change our release processes to avoid a mismatch like this happening again in future - BlueOS and Cockpit are intended to match upcoming autopilot firmware changes while they are still in beta releases, rather than a stable firmware update outpacing the interfacing software around it.
Hi. I updated BlueOs to the new stable version and updated the firmware to 4.5.5. Gripper, Tilt, Lights do not respond. I’m at a loss. I’ve attempted to downgrade firmware, and Os, and QGC. Nothing seems to fix. Is there a solution to this. The ROV is a brick at this point.
Could you confirm your currently running QGC, BlueOS, and ArduSub versions, as well as the hardware you’re running on, and which output pins your lights, camera mount, and gripper are connected to?
It could also be helpful if you can share your current autopilot parameters. As above, if you’re using ArduSub 4.5.5 you’ll need to change some parameters for the features to work properly. For earlier versions it may help to try resetting your parameters from the Vehicle Setup page in BlueOS.
If this is a Newton Gripper then that wouldn’t have been controllable before this update (the servo_n_* joystick button functions only worked for pins 9/10/11), but I’ll assume you’ve identified your connections correctly.
Can you make sure you have the following parameters set (you may need to “force” the numerical values, if your software doesn’t know they exist):
Parameter
Value
Notes
MNT1_TYPE
Servo (1)
SERVO16_FUNCTION
Mount1Pitch (7)
SERVO15_FUNCTION
Actuator 1 (184)
Use servo_1_min/max_momentary (76-77) joystick button functions to control it
SERVO11_FUNCTION
Lights1 (181)
Use lights_1_* (31-33) joystick button functions for control
SERVO12_FUNCTION
Lights2 (182)
Use lights_2_* (34-36) joystick button functions for control
Thanks for that. I’ve attempted to adjust the parameters. None of the values suggested (actuator, lights ) exist in the list of options. I’ve attempted to reload 4.5.5 and bluerov heavy parameters into Blueos. Now when i enter Vehicle setup i get a message that 0/0 parameters are loaded, and no parameters are set in Autopilot.
You’ll need to enter in the numerical value (in parenthesis) under autopilot parameters, for the parameters Eliot listed. You may need to click force as Eliot mentioned!
If no parameters load at all, try restarting the autopilot from the power button in the lower left of BlueOS….
Thanks. I managed to get things back functional…..kind of. Lights, Tilt, Grabber are working. Still unable to access parameters in BlueOS. Made adjustments through QGC. Updating BlueOS and Firmware to 4.5.5 crated all sorts of problems. Hopefully Blue Robotics can create a more user friendly update experience.
Sorry for the frustration. Can you share what version of BlueOS you updated from / too? The issues described here are only due to Ardusub 4.5.5, we anticipate things to get much more intuitive in the future…
i updated BlueOs from 1.1.0 . I have attempted a test flight. Nothing is functioning as it should ( including all the telemetry - depth hold / stabalize mode). All thrusters had been working and everything before and after the update had been calibrated. The BlueROV2 heavy that i have is completely stock from Blue Robotics.
I have tried to downgrade the firmware, OS, and QGC. I have tried every combination of update at this point. Seems as Blue Robotics has put out a very buggy firmware update. Any ideas at this point.
Well with 2 full days of troubleshooting. Managed to Get things back up and running. The ROV is functioning ( most importantly video / and stabilized flight modes). Still working on lights and gripper. I can at least complete my survey work. Its unfortunate that Blue Robotics are so incredibly slow to fix this mess.
Noting that ArduSub 4.5.6 stable is now available, which automatically updates old output function configurations to use the new parameters, if it detects the relevant features are being used
Sorry for the issue! Can you provide more details? Is the ROV connected to WiFi with Internet? Have you tried multiple Wi-Fi networks, like your phone hot spot? Do you receive any error message? What version of BlueOS are you using?
