Ardusub Custom Configuration

Blue Robotics Software QGroundControl
1

Hi,

I’m looking to create a custom frame config for my ROV.
I would like to enable servo control for the attitude of the ROV, similar to a plane and represent this is BlueOS.
Are there resources which lay out this process?
Q Ground Control doesn’t seem to have the same customisability as Mission Planner, but it is not the recommended way to use BlueOS.
I have found some old resources for this, but the links don’t always work.

Thanks,
Matt

2

Hi @Matt_D -
Can you go into more detail on what you mean by

I would like to enable servo control for the attitude of the ROV, similar to a plane and represent this is BlueOS.

It is already possible, with compatible 6dof frames, to hold any pitch and roll angle, including with the vehicle upside-down!

The custom frame config setup is detailed here, and in many similar posts on these forums.

3

Hi @tony-white

I would like to actuate control surfaces with servos. Fins in the water that control the pitch, roll and yaw like a plane. If the ROV is in forward movement like a plane, it would control these axes.

The custom frame config setup is detailed here, and in many similar posts on these forums.

How do I use this to setup a custom config. Is it just a matter for downloading the config produced by the site and editing as required?

Thanks,
Matt

4

@tony-white I’ve been trying to configure Ardupilot manually using ./waf following these guides:
https://ardupilot.org/dev/docs/building-setup-mac.html
and

I think there is a bug for the navigator flight controller when choosing the navigator board type which stops the configuration. My screenshot below shows I can configure other board.
image

“./waf configure --board ADD_FC_BOARD_HERE” works for the other boards not problem, but the navigator does not work.

It gives me this error when trying to use “navigator”:
Checking for ‘g++’ (C++ compiler) : not found
Checking for ‘clang++’ (C++ compiler) : not found
could not configure a C++ compiler!
(complete log in /Users/MyFolder/ardupilot/build/config.log)

There is no problem with the C++ compiler with the other boards.

@jwalser Is this something you would be able help with?
I saw you helped with a similar issue here.

5

Hi @Matt_D -
Unfortunately, the frame definition is inherently not going to be useful for the control surfaces paradigm you’re trying to create - the matrix defines directions of thruster outputs relative to the body, so something may work but it would definitely be a bit of a hack in your application!

As for building Ardupilot / ArduSub - we have instructions located here.

6

Hi @tony-white
I was hoping there was an easier way, but always through it would end with a hack. I appreciate you having a look.

Thanks for the link as well, I did end up getting the build working on a Linux VM, I think there may be a bug with Mac for the Navigator or just a setup issue somewhere on the Mac which didn’t affect the other boards.