# BlueROV2 navigation problems **URL:** \ **Category:** BlueROV2\ **Created:** [July 19, 2022, 7:56am UTC](https://discuss.bluerobotics.com/t/bluerov2-navigation-problems/12537 "2022-07-19T07:56:28Z")\ **Posts on this page:** 4\ **Page:** 1
**Author:** ![Eloi](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eloi/32/9151_2.png) [@Eloi](https://discuss.bluerobotics.com/u/Eloi)\ **Post date:** [July 19, 2022, 7:56am UTC](https://discuss.bluerobotics.com/t/bluerov2-navigation-problems/12537/1 "2022-07-19T07:56:28Z")
Hello everyone, Our BlueROV2 is currently running under BlueOS 1.0.1 and ArduSub 4.1.0 and we are using a logitech F-310 joystick. We made some tests yesterday to see if everything worked fine but we faced some issues. First, the ROV is under the surface, we use depth hold mode, when we want to move forward the vehicle, it is going forward and UP as you can see in the following video ([ROV test depth hold - YouTube](https://youtu.be/1DxWwEyRM8M)). Sometimes our vehicle was completely upside down at the surface, the only button used is the one to go forward. Second, the ROV is at the surface, we use the stabilize mode, when we use the button to go forward our vehicle is going towards this direction but it is making undulations like a porpoise as you can see in the video ([ROV test stabilize mode - YouTube](https://youtu.be/JSAtolK1kDY)). Again, we are only using the forward button of the joystick. Third, in stabilize mode our vehicle has a constant roll on the left. The left engine seems to always push water up which make the left side of the ROV going down. We are assuming all these problems come from one cause, but we don’t know what it is. Has anyone faced the same problem and knows how to fix it? Thanks for your help! Fiona ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [July 19, 2022, 8:11am UTC](https://discuss.bluerobotics.com/t/bluerov2-navigation-problems/12537/2 "2022-07-19T08:11:14Z")
Hi @Eloi, It seems likely that you’re having issues with either your sensors and/or your motor mappings and directions. I would recommend you 1. Make sure you’re using [our latest recommended QGroundControl version](https://bluerobotics.com/learn/technical-reference/#software-applications) 2. [Reset the vehicle parameters](https://www.ardusub.com/reference/ardusub/parameters-page.html) (and reboot) 3. [Calibrate the sensors](https://www.ardusub.com/reference/ardusub/sensors-setup-page.html) (and reboot) 4. Confirm that the propeller types (clockwise / counter-clockwise) on your thrusters match [the frame design](https://www.ardusub.com/reference/ardusub/frame-setup-page.html) 5. [Confirm the motor assignments and their directions](https://www.ardusub.com/reference/ardusub/motors-setup-page.html) ---
**Author:** ![Eloi](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eloi/32/9151_2.png) [@Eloi](https://discuss.bluerobotics.com/u/Eloi)\ **Post date:** [July 20, 2022, 12:51pm UTC](https://discuss.bluerobotics.com/t/bluerov2-navigation-problems/12537/3 "2022-07-20T12:51:20Z")
Hello @EliotBR, Many thanks for your reply. We did everything you recommended without visiting any problems. We tested our ROV this morning, but the issue remains, and we didn’t see any improvements since last time. Do you have any other suggestions to fix it? ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [July 21, 2022, 10:27am UTC](https://discuss.bluerobotics.com/t/bluerov2-navigation-problems/12537/4 "2022-07-21T10:27:18Z")
> [@Eloi](#): > > Do you have any other suggestions to fix it? I asked about this internally, and the only additional suggestion was > [@williangalvani](#): > > that is a standard configuration, maybe move the center of gravity forward?