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BlueROV control directions

Hi, we did a pool trial yesterday and none of the control motions were correct.
We use Logitech F710 to send commands and the the frame setup is BlueROV2/Vectored.

When trying to do ascend/descend the robot will roll. The lateral and yaw control are switched with joystick places (lateral is controlled by right / yaw by the left one).

In addition whenever, we will change the mode to anything but Manual, the ROV will start a random motion.

Could anyone please give any suggestion what should be done in this case?

Thanks!

Hello, Please revisit our software setup instructions, and make sure you complete them in order and in their entirety. Pay particular attention to the joystick and motor setup sections.