Ardusub loiter like mode

Blue Robotics Software
1

Hi,

I’m new to the forum, and quite new to ardusub.
I’m trying to make my own sub project, and decided to use ardusub for it.
now the problem I have is that from what I’ve read ardusub’s poshold mode holds position as long as there aren’t any RC inputs,
but when there is an input on some axis, that axis follows the input directly (basically like manual mode would look like on this axis).

I wanted to ask if there is anything like arducopter’s loiter implemented in ardusub,
meaning it holds it’s position and when I give RC inputs it takes the current into consideration when calculating what values to output instead of outputting my exact inputs.

Thanks in advance!

2

Hi @boxy -

Welcome to the forums!

Poshold mode is not related to manual mode - it can be thought of as depth-hold, but with the vehicle working to hold x,y, and z position instead of just z position. This requires the vehicle know its position, via messages from a payload DVL and/or USBL / LBL localization system. When driving in poshold mode, you are changing the target location for the vehicle to be, not directly controlling the RC outputs!

Since ArduSub is derived from ArduCopter, it should work in the same way as you sort-of expected!