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Ardusub Build for New motor configuration

I have been trying to build Ardusub code for a 5 thruster custom configuration. I did the following steps to attain a build(after a lot of tries).

  1. I edited AP_Motors6DOF.cpp to add my custom configuration as instructed in this link.

2)Edited the parameters.cpp in ArduSub folder in Ardupilot code folder.

AP_Motors6DOF::SUB_FRAME_xxxxxx was initially named Vectored or something.
I changed it to SUB_FRAME_CUSTOM.
I did this because I wanted my frame configuration to be loaded on boot(I don’t know if its the right thing to do to attain that)

3)I went to QGC and didn’t see any Custom configuration graphically. Is there something wrong in that.

4)Do I need to reload the parameters of BlueROV2 again since I edited the parameters.cpp?

5)Will I miss any feature of BlueROV2 apart from Degree of Freedom?

Can somebody validate the steps?

You have just changed the default setting for the frame selection. We do not display custom frame in qgc to not confuse normal users. You can verify the FRAME_CONFIG parameter setting in QGC parameter menu.

Everything looks ok to me. Step #2 was unnecessary, but it’s ok.

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Thank you.

Hi I have been testing with the new configuration for a while and I have identified one problem with it. The thruster control for lateral motion is swapped. ie,when I push left on joystick,it moves right and vice versa.
All other modes and controls works fine.any work around for this?

Initially the lateral was okay,but all other motions were messed up.But changing the motor direction solved it but broke the lateral motion.

Any help?

Hi @rnr, it might be a good idea to recalibrate your joystick on the joystick settings page. The calibration detects the direction and position of each joystick so if it was done backwards on one stick the first time, it will reverse the control of that stick.

Make sure you’ve selected “Mode 3” at the top right of that page when doing the calibration.


@rnr can you let us know what your motor configuration looks like and what changes you made to the code?

It can be one or many of

  • joystick calibration
  • motor direction configuration (MOT_DIR parameters)
  • a problem with your custom motor mapping

@jwalser The Bluerov 2 configuration(with vectored thruster) with single upward facing thruster for heave motion totaling 5 motors.
Is there any documentation for Motor logic apart from documentation to edit the custom frame?

Not that I’m aware of. Do you find it incomplete?

@jwalser @rjehangir The issue is solved.Some error with motor direction parameter.Thanks guys for the expedited response.

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