# Ardusub build for other controllers **URL:** \ **Category:** General Discussion\ **Tags:** ardusub, sitl, simulate\ **Created:** [August 23, 2019, 8:49pm UTC](https://discuss.bluerobotics.com/t/ardusub-build-for-other-controllers/5834 "2019-08-23T20:49:43Z")\ **Posts on this page:** 7\ **Page:** 1
**Author:** ![peterloron](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/peterloron/32/4523_2.png) [@peterloron](https://discuss.bluerobotics.com/u/peterloron)\ **Post date:** [August 23, 2019, 8:49pm UTC](https://discuss.bluerobotics.com/t/ardusub-build-for-other-controllers/5834/1 "2019-08-23T20:49:43Z")
Hello, all. I’m researching control systems (hardware + software) for a ROV my son and I are building. We have an STM32F405 based flight controller + ESCs, but it is not a pixhawk, nor is it one of the specific models found in the various build download folders. Can someone who is familiar with the internals of the software shed some light on what is needed to properly support a new board? Is there simply a config file which defines the processor, flash, peripheral pins, etc? Thanks! ---
**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\ **Post date:** [August 24, 2019, 5:11pm UTC](https://discuss.bluerobotics.com/t/ardusub-build-for-other-controllers/5834/2 "2019-08-24T17:11:34Z")
Hello, Take a look at Ardupilot’s documentation on [Porting to a new flight controller board](http://ardupilot.org/dev/docs/porting.html). ---
**Author:** ![peterloron](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/peterloron/32/4523_2.png) [@peterloron](https://discuss.bluerobotics.com/u/peterloron)\ **Post date:** [August 24, 2019, 7:29pm UTC](https://discuss.bluerobotics.com/t/ardusub-build-for-other-controllers/5834/3 "2019-08-24T19:29:36Z")
Ah! I missed those docs. Exactly what I needed. Thanks! ---
**Author:** ![Akilesh9707](https://avatars.discourse-cdn.com/v4/letter/a/3d9bf3/32.png) [@Akilesh9707](https://discuss.bluerobotics.com/u/Akilesh9707)\ **Post date:** [September 9, 2019, 5:40am UTC](https://discuss.bluerobotics.com/t/ardusub-build-for-other-controllers/5834/4 "2019-09-09T05:40:26Z")
Hey I am using a different configuration of frame for my bot that is not available in the Section “frame” of QGC. Can i still use Ardusub for this. I have pixhawk flightcontroller along with rpi as the companion computer and and I have set up the simulation environment for Blue ROV 2 which is perfectly working. Can any give me a better idea if the ardusub can work for other frame configurations apart from thse available in QGC ---
**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\ **Post date:** [September 9, 2019, 1:15pm UTC](https://discuss.bluerobotics.com/t/ardusub-build-for-other-controllers/5834/5 "2019-09-09T13:15:55Z")
Yes, you can. Check the docs for [custom frames](http://www.ardusub.com/developers/developers.html#making-a-custom-configuration). What is your simulation environment? SITL currently only supports the vectored design. ---
**Author:** ![Akilesh9707](https://avatars.discourse-cdn.com/v4/letter/a/3d9bf3/32.png) [@Akilesh9707](https://discuss.bluerobotics.com/u/Akilesh9707)\ **Post date:** [September 12, 2019, 8:59am UTC](https://discuss.bluerobotics.com/t/ardusub-build-for-other-controllers/5834/7 "2019-09-12T08:59:35Z")
Hey so I have made the required configuration of the frame and has saved the files in. Cpp format. How do I run this file so that I can see the required changes in q ground control? ---
**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\ **Post date:** [September 12, 2019, 1:17pm UTC](https://discuss.bluerobotics.com/t/ardusub-build-for-other-controllers/5834/8 "2019-09-12T13:17:20Z")
After editing, you need to build and flash the vehicle. Follow [these instructions](http://www.ardusub.com/developers/developers.html). For it to show in QGC you would need to change the QGC source too. You can just set the FRAME\_CONFIG parameter instead.