Hi everyone, I hope you’re all doing well. I’d like to gather your thoughts and opinions on a project I’m undertaking. I’m planning to construct a custom ROV frame equipped with 7 thrusters, as depicted in the image [1 (1)] Do you have any thoughts or opinions on this? I’ve already developed the…

Hi @ROVOSTECH - Why are thrusters 1&2 vertical at the front of the vehicle, matched by thrusters 3&4 ? The layout as you’ve shown will not be capable of “strafing” moving laterally without facing the direction of travel… The table of thruster vectors does not match your layout (Motor 1 is vertic…

Hi @tony-white , actually, side view = the back view of the ROV, thrusters 1,2,6, and 7 are horizontal thruters. so, in this custom frame, I have 4 thrusters facing forward, [1 (3)]

Hi @ROVOSTECH I understand now! It may not be necessary to have multiple control channels for 7/2 and 1/6 - instead they could have the signal lines joined and connected to a single output of the autopilot. That may make this existing frame usable for you? [image] You would get roll/pitch stabili…

Hi @tony-white , Thank you for your fast response !! You are correct, BlueROV1 frame was the background idea. However, I want to remove the use of the strafe ability of channel 6, and use it for horizontal thruster along with additional thruster channel 7. By having 4 horizontal thrusters on the b…

Hi @ROVOSTECH - 4 horizontal thrusters do not contribute to the pitch moment, unless they are significantly off-center from the center of drag of the vehicle? Have you compared or derived your thruster table from the BlueROV1 frame table values?

Ardusub Custom Frame

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ROVOSTECH May 3, 2024, 1:28am 7

hi @tony-white I did and will update you with the result soon.

Thank you for your help

Need help configuring a custom 6-thruster vector layout (like FIFISH) in ArduPilot

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