# Controlling T200 thrusters using pymavlink

**URL:** <https://discuss.bluerobotics.com/t/controlling-t200-thrusters-using-pymavlink/12372>\
**Category:** Blue Robotics Software\
**Tags:** pymavlink\
**Created:** [June 21, 2022, 5:08pm UTC](https://discuss.bluerobotics.com/t/controlling-t200-thrusters-using-pymavlink/12372 "2022-06-21T17:08:24Z")\
**Posts on this page:** 1\
**Showing post:** 6

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**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:** [June 28, 2022, 7:01am UTC](https://discuss.bluerobotics.com/t/controlling-t200-thrusters-using-pymavlink/12372/6 "2022-06-28T07:01:50Z")

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Hi @jagajith23, welcome to the forum 🙂

Apologies for the delay on responding to this - I’m travelling at the moment along with several other members of the team, which has made fast turnaround on responses quite difficult.

> [@jagajith23](#):
>
> I tried using rc\_channel\_override\_send() but i got some error saying that 11 or 12 positional arguments required but 21 were given.

That issue sounds potentially the same as [this one](https://discuss.bluerobotics.com/t/send-rc-input-command/12305), so I’d recommend reading through that and trying some of the suggestions there.

> [@jagajith23](#):
>
> is there any way to make my auv move to certain distance for eg: if 5m forward command were given then my auv should go 5m forward.

Precise positioning requires [some form of positioning system, or at least a velocity sensor](https://discuss.bluerobotics.com/t/dvl-recommendations/10775/2)) for somewhat accurate movement estimation. It’s possible to use the flight controller’s internal accelerometer for very rough movement estimates, but positioning error grows quickly with double-integrated quantities that have no source of feedback.

> [@jagajith23](#):
>
> i can give movement commands using manual control but with a delay of 2 seconds, command without delay is not executed. Exact 2 seconds delay is required for to run thrusters constantly. how can i change the delay?

I’m not certain what you’re referring to here. Are you saying if you don’t add a delay to your code it doesn’t work, or that your commands stop working after some amount of time (that you’re referring to as a delay)? If it’s the latter, you’re most likely running into a [failsafe](https://discuss.bluerobotics.com/t/t200-python-manual-control-error/11479/2) that you’re not handling correctly.

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