# Custom config query

**URL:** <https://discuss.bluerobotics.com/t/custom-config-query/19241>\
**Category:** Build/Make\
**Tags:** ardusub, vehicle-design\
**Created:** [February 3, 2025, 2:28am UTC](https://discuss.bluerobotics.com/t/custom-config-query/19241 "2025-02-03T02:28:11Z")\
**Posts on this page:** 1\
**Showing post:** 2

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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:** [February 3, 2025, 4:07pm UTC](https://discuss.bluerobotics.com/t/custom-config-query/19241/2 "2025-02-03T16:07:27Z")

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Hi @kushion,

> [@kushion](#):
>
> I’m concerned about not knowing what exactly the numbers represent for the roll,pitch,yaw… factors and how to actually derive them.

[This comment](https://discuss.bluerobotics.com/t/custom-vehicle-frame-general-questions-about-ardusub/10623/2#thruster-contributionsfactors-2) is likely a good starting point for understanding that, branching out as relevant from there.

> [@kushion](#):
>
> I was also wondering whether the distance of the thrusters from the main board affects these factors?

There are two levels here - the thrusters [act on the vehicle’s center of mass](https://discuss.bluerobotics.com/t/vectored-thruster-orientation/7060/74), which is what the thrust factors should be relative to, and then the flight controller board [may have an independent offset from that](https://discuss.bluerobotics.com/t/auv-vehicle-gliding-forward-while-its-not-supposed-to-do/11581/5#calibration-methods-2) (which can and should be corrected for if there is one, although it’s preferable if there’s no offset to correct).

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