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BlueRov2 do not decend straigt down


(Bo Vikarby) #1

Hi

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.

Regards Bo


(Jacob) #2

Can calibration of accelerometers have anything to do with this behavior?

Yes. If the artificial horizon display shows level when the vehicle is in fact tilted, then it is a calibration issue.

When I after upgrade tried to recalibrate accelerometers it did not work.

Interesting, maybe this was not the issue.

This sort of behavior may be expected in MANUAL mode. There is no auto-level stabilization in this mode, you need to use the other modes for stabilization.

  • Does the artificial horizon show that it is 10 degrees off, or is the horizon level?
  • Are you diving in MANUAL mode?
  • Do the propellers on both thrusters spin freely?
  • Do you see any signs of damage?

(Bo Vikarby) #3

Hi Jacob

Thanks for quick respons

The artificial horizon shows that it is 10 degrees off
I am diving in MANUAL
Both props spins freely
No signs of any damage

// Bo


(Jacob) #4

This is the problem. The change you notice was probably not from a software change, but something physical: uneven wear, uneven power distribution, weight distribution etc.