I experimented with this in the pool this morning, but I’m still not able to obtain the desired result. The Roll/Pitch toggle always switches the “forward” command with “pitch down.” So no matter what, I can’t pitch down and then accelerate forward simultaneously.
This is exactly opposite of how the pitch/roll toggle should be configured.
The ideal config for the Heavy BlueRov would be:
Left Stick: Always forward/reverse/yaw.
Right stick toggles between Pitch/Roll and Throttle/Lateral.
(I have seen the pitch-lock feature in stabilize mode, but the control configuration above is far more elegant and intuitive.It is has been used by R/C Airplanes and helicopters for decades.)
My goal is to quickly dive 100+ feet and locate a small artificial reef on the seafloor before we drift away from it. Diving nose first gives us the best speed, visibility and maneuverability. Here’s a example video of our typical dive profile.
Will we need to modify the code in Ardusub to do this with BlueROV Heavy?