Why Throttle Factor the third and fourth motors are same but fifth motor is different? 3. and 4. motors throttle factor’s sum is 0.9 but 5 is 1?
I’m not sure about this, but maybe so the overall thrust is the same in the front and back of the ROV?
This is the ardusub document. Could the tether be cause? I think, tether pull back the ROV so front throttle should be bigger than back throttle. Is it relevant?
Throttle factor is actually for verticals. so the idea is that you have the same vertical force in the front as you have in the back (assuming the frame has a similar square shape as in the drawing).