I have skipped through the ArduPilot 4.0 release video and noticed direct motor control feature (control of individual motors). There is an update for automatic motor tests, I was wondering if the new feature could be used for direct motor control in ArduSub? Thank you 
Hi @sample, direct control over individual motors is independent/distinct from the automatic motor configuration feature introduced in ArduSub 4.0.
Direct control over individual motors is still not supported, you can check this issue to see any progress or updates in this area.
The purpose of ArduSub is to take care of all of the stabilization and motor mixing in the system. If this is something you are trying to implement yourself, it would be better to edit the ardusub firmware, or write your own control software.
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