I want to create a custom frame based on “ROV with side-by-side vertical thrusters (Frame: simplerov)”.
When i look at the supported frames, all are consist of thrusters either arranged vertically or horizontally. I want to integrate control surfaces into the current configurations.
This approach may give energy saving, quick reaction of the vehicle.
I want to use Ardusub firmware and CUAV X7+ flight controller. In my case, i want to use no:3 and no:4 control surfaces instead of simplerov frame no:3 and no:4 vertical thrusters. And also I want to use no:5 and no:6 rudders (they are linked with a bar).
ArduSub does not yet have support for control surfaces or rudders - it only supports fixed orientation thrusters.
Advanced control is definitely an interesting and valuable extension of the current functionality, but those actuation methods are not currently a development priority for Blue Robotics. For them to be usable in the near future would require either development from you (or others in the community), or adding underwater support to a different firmware variant with existing control surface support.
This is effectively a single rudder, so if you’re able to get some form of rudder support then you should be able to either configure both outputs to the same servo function, or just wire both motors to the same control signal pin
İ will do my best and share here. I have already started the second option you mentioned.
Adding underwater support to a different firmware variant with existing control surface support, may be the easiest way to follow for me.
İ am searching for closest frame firmware to play with. İ am thinking of starting with some Arduplane fw version having flap and tail in it’s configuration.
