# Controlling ROV to 90 degrees not working

**URL:** <https://discuss.bluerobotics.com/t/controlling-rov-to-90-degrees-not-working/12935>\
**Category:** Blue Robotics Vehicles\
**Created:** [September 19, 2022, 5:41pm UTC](https://discuss.bluerobotics.com/t/controlling-rov-to-90-degrees-not-working/12935 "2022-09-19T17:41:03Z")\
**Posts on this page:** 1\
**Showing post:** 28

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**Author:** ![reimonha](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/reimonha/32/10323_2.png) [@reimonha](https://discuss.bluerobotics.com/u/reimonha)\
**Post date:** [March 11, 2023, 7:07pm UTC](https://discuss.bluerobotics.com/t/controlling-rov-to-90-degrees-not-working/12935/28 "2023-03-11T19:07:25Z")

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Hi @EliotBR , @williangalvani , i will like to continue with this thread.

Now we are making test on a simulator, this to speed up the try/test process. We follow instructions from : [Setting up a simulation environment](https://discuss.bluerobotics.com/t/setting-up-a-simulation-environment/2892)

Everything is working fine, so on that part, all good.

I was testing the code you shared, @williangalvani . [Pymavlink · GitBook](https://www.ardusub.com/developers/pymavlink.html#set-target-depthattitude)

And i have an observation:

- Target depth is hold as expected, if i input 5 meters, 2 meters, the ROV follows the instruction as it should. No problem on that.
- The issue arise on the set\_target\_attitude function. i try with something simple, like test the yaw movement, i see that what it actually does is go to that yaw angle, and then comes back to the original position. This behavior is follow on roll and pitch.

Is there a way to modify this function so it can actually hold the angle asked?, like the 90 degrees or 180 degrees for roll

Thanks in advance.

Cc: @SaferHarbors  
.

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