Hi @Firestarss,
I haven’t worked with this, but as far as I’m aware there isn’t a more recent control solution than @patrickelectric’s bluerov_ros package. From what I understand the controls shouldn’t have changed significantly in that time though, so I’d expect it should still work fine.
Best things I can point you to are other relevant forum posts. From the looks of things,
- this post covers a decent amount of detail about mavros and the bluerov_ros package, and
- this one is the most viewed post in a forum search for
mavros, and seems to cover many issues people had along the way while trying to get things set up and running as expected
Classic 
But hey, rubber-ducking and sharing what you learn as you go means that others who are interested can follow your steps afterwards - I’d count that as a win 