I have a new BlueROV2 Heavy, and I’m having trouble with the setup. Normally, I would use the setup wizard in BlueOS, but I’m encountering an error: “Failed to load scripts” and “Failed to load parameters.”
Because of this, I can’t even configure it as a Heavy in the vehicle setup. I’ve already reflashed the SD card on the Navigator and tried again, but the issue persists.
I am having this exact issue. I just upgraded from Pi 3 and PixHawk to Pi 4 and Navigator. I had everything working, but then when I booted it up the next day, BlueOS had me go through the setup wizard, which was odd since it was already configured correctly. Now, it does not recognize the ROV as a heavy unit. It also appears that the names for the outputs are inconsistent.
I hear beeps when I plug in thrusters 7 and 8, but I am not able to assign output labels (I’m assuming it would be Motor7 and Motor8) or get them running. I also have an additional thruster set up for a suction tube, and a gripper. Those were not detected either. 
I have no idea what happened overnight that would have caused this weird “reset.”
Were you able to figure this out?
Hi @jworg -
It sounds like your system may have fallen back to the bootstrap version, we’re you running a different version than this? You can tell from information in the bottom right corner. Connection the system to Wi-Fi with Internet and pulling in the default parameters for the heavy configuration (under vehicle setup( should resolve things!!
Hi @tony-white
I did notice that was mismatched last week, so I updated it. I wasn’t able to get the heavy payload to be recognized until connecting to the ROV with QGroundControl on a different laptop. Now I can see Motor 7 and 8 are configured correctly when I connect again using BlueOS. However, I’m not sure what output labels I need to assign for the gripper and suction motor. It looks like BlueOS is loading parameters meant for a flying unit, not a sub. Also, Lights1 shows up as “custom 181,” and BlueOS is no longer loading the browser cockpit button in the left menu. I’ve attached my current configuration. Would you be able to review and let me know how I need to assign certain outputs? I’m not sure why the lists are not populating with the correct labels.
rov config.csv (698 Bytes)
Hi @jworg -
It sounds like you’re not running the latest stable BlueOS, 1.4.3?
Are you using a pixhawk?
Sharing your parameters file would be more helpful than a (manually created?) csv file - you can download from the Autopilot Parameters page.
You should also be running ArduSub 4.5.7?
Sorry, that was my attempt to keep myself organized. Here is the parameters file.
I recently upgraded our Pi 3 and Pixhawk to a Pi 4 and Navigator. I am running Blue OS 1.4.3 with matching Bootstrap, and ArduPilot 4.5.7 for submarine. Something seems buggy though..
Hi @tony-white , I was hoping to have this ROV all put back together before next week Wednesday for testing. Was the params file I sent helpful at all? I was out of town most of last week, but I plan to boot everything up and get back at this tomorrow.
Hi @jworg -
Looking at your parameters file, it seems you haven’t calibrated your motion sensors? The compass offsets are not set… run through a complete accelerometer and compass calibration, and gyro while it’s warm on the bench (and perfectly still) and you should have much better performance in stablize and depth-hold mode. See the docs here!
I also see some parameters with a GRIP prefix - do you have a custom lua script active and creating these?
@tony-white not intentionally. I think that’s what I’m trying to figure out. I had been switching between two laptops and between Cockpit lite, Cockpit app, and QGroundControl to try and get anything to work. It seemed like between those programs, different parameters would populate. I don’t know which config is the “right” one if that makes sense…
I didn’t want to calibrate anything until I had this part figured out, so I can put it all back together once I knew it was configured correctly.
Hi @jworg -
As Eliot recently posted on another thread:
Control station software only sends inputs to the autopilot. How it interprets those inputs and decides to convert them into outputs are solely in the domain of the autopilot’s implementation and configuration.
I’d generally recommend settling on only one GCS software - Cockpit standalone is recommended. The same set of parameters is used by the autopilot regardless of what GCS software you’re using.
Calibration can occur in QGC, but we’re moving towards recommending it be done in BlueOS. Until you calibrate the motion sensors, the vehicle is not ready for use. If this is a freshly setup vehicle, you’ll also need to set your thruster directions correctly - this can be done automatically (detect reversed motors, with the system floating in the water), or manually (run motors in air by “bumping”, checking airflow direction, reversing as necessary.)
