We are designing a thruster configuration where we have two thrusters, running in opposite directions, configured on the same axial line. Think of outboard motor that has two propellers, running on a single axel, running in opposite directions.
This will primarily be used to provide roll control.
I will look into the Frame matrix, but I was wondering if anyone had tried this configuration before, which would save me some development time and mistakes.
Hi Mark -
So if I understand correctly, you intend to run those two coaxial thrusters to provide forward or reverse thrust, but then by running one faster than the other, impart a roll moment to your vehicle? This would happen as it traverses along? I don’t think Ardusub will let these motors also contribute to roll control, especially as the roll force is due to a difference in throttle levels, and not absolute throttle position of a motor that controls roll.
It may be possible to hack with a unique matrix configuration, but I’d look into modifying the ardusub firmware to support if not.
At least in my head this seems like this should be possible by just matching the signs of one contribution and setting them opposite for the other (e.g. if both are set to +1 for the forwards contribution, then one would need to be set to +1 for roll and the other to -1).
That said, it’s quite possible I’m misunderstanding the situation, and I’m not certain that approach would be optimal even if it does work - I’d need to think about it more.