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, t…

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 loc…

@tony-white I’m encountering the same issue. When Poshold mode is enabled and there is no manual RC input, the ROV holds its position well even in currents. However, when external RC inputs are given, the Poshold mode doesn’t seem to work as expected—it doesn’t behave like Stablize or Depth Hold mod…

Hi @qiuqiuggl How does your vehicle know it’s position? In what ways does it act as if it is in manual mode when moving in poshold?

Can I pass waypoints to the vehicle while it is in POS_HOLD mode?

Hi @nate - [image] nate: Can I pass waypoints to the vehicle while it is in POS_HOLD mode? No - for that you would use GUIDED mode! These folks seem to have had success at just that.

Our ROV is equipped with a DVL A50.

Hi @qiuqiuggl - Are you operating in a tank or small body of water? Can you share your BlueOS and ArduSub versions? A .BIN log from a dive where you have the issue would be helpful in troubleshooting!

Ardusub loiter like mode

Blue Robotics Software

tony-white (Tony White) January 24, 2026, 2:02am 6

Hi @nate -

No - for that you would use GUIDED mode! These folks seem to have had success at just that.

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