ArduSub Horizontal+Vertical Thruster Coupling

[EliotBR (Eliot)]

@EliotBR

The vectored frame has equal factor magnitudes for motors 1, 2, 3, and 4, so I would expect them to operate with the same output magnitudes while in manual mode. I’ve raised this internally in case one of our software engineers has a better idea.

Following up on this,

@williangalvani

Forward and vertical motion are coupled by default. The MOT_FV_CPLNG_K parameter should disable it, but I’ve never tried it.

See the following code sections:

ArduPilot/ardupilot/blob/master/libraries/AP_Motors/AP_Motors6DOF.cpp#L461-L464

ArduPilot/ardupilot/blob/master/libraries/AP_Motors/AP_Motors6DOF.cpp#L85-L91

For some additional context,

@rjehangir

This was my doing. When first flying the vectored ROV, we found that there was interference between the vertical thrusters and rear thrusters that causes pitching in forward motion. This significantly decreased that, but does reduce overall thrust.