When I first tested the BR2 to dive 30m it did descend strait down to the bottom at 30m. When ascend to the surface it did surface at the same place. After upgrade ArduSub and QGC to latest rev. it is not descending straight down. It descends at an angle app. 10 degrees from vertical. Left side thruster spins faster than right side.
Can calibration of accelerometers have anything to do with this behavior?
When I after upgrade tried to recalibrate accelerometers it did not work.