Hello,
When I run ArduSub-stable using the bluerov2-4_0_0.frame by using
sim_vehicle.py -v sub --console --map -w --add-param="./Tools/Frame_params/Sub/bluerov2-4_0_0.params"
the sub starts on it’s side with roll about -90 and fails to do any missions (it drives in the wrong direction). The SITL works perfectly fine if I run it using BlueOS but I don’t have access to that RPi atm. Is the a different frame/setting that BlueOS ArduSub SITL is using that can be used when simulation on an non arm computer?
Hi @unarmedsub -
Welcome to the forums!
That sounds like your AHRS_orientation parameter is set wrong - can you check what it is on the SITL version that is giving you issues?
Thanks Tony,
Changing the AHRS_ORIENTATION to 0 put it the right way up. However, I was expecting for the RC_OVERRIDE commands to do individual thrusters on so channel 1-4 would change yaw, 5-6 rolling and combinations of these to do the other directions. However, it looks like channel 2 is roll, 3 up, 4 yaw, 5 forward, 6 right.
Am I misunderstanding the vectored FRAME_TYPE or is there some other issue?
I am using this params file: ardupilot/Tools/Frame_params/Sub/bluerov2-4_0_0.params at 80e8c23a7a07d0653fc1ce6b6a55ee17889c77af · ArduPilot/ardupilot · GitHub from the ArduSub-stable tag
I am using RC_OVERRIDE as I need open loop control for some of my tests.
Thank you for your help so far.
Hi @unarmedsub -
RC_Override does not control individual thrusters! It is sending remote control commands, which correspond to overall vehicle movement - controlling individual thrusters isn’t technically suported by ArduSub, except in the motor test mode, or with some hacky workarounds…
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