Custom ROV thruster setup

Blue Robotics Software BlueOS
1

Hi
Could anyone tell me how I can change how many motors I am using on BlueOS? Like I am only using 4 thrusters, but BlueOS thinks that I am using 6 motors. And I don’t want to use 6 motors, so how can I change it to where I am only using 4 motors? On QGround, I could pick many thrusters I am using, but I can’t use QGround anymore since it stopped working on my computer.

2

Hi @Vkoppireddy1 -
It sounds like you’re trying to configure an ROV with a frame type that uses only 4 motors? The easiest way to select this is from within QGround Control - if for some reason that program doesn’t open, you could try reinstalling - we recommend/support only up to version 4.2.8…

image
image1920×1040 292 KB

You’ll need to use one of these thruster arrangements, or create your own custom one. Generally if you don’t connect a thruster # where it’s shown in the layout, things may still work, but you may lose a degree of freedom, depending on the frame type selected.

You can also adjust the parameter directly, without QGround Control, via the FRAME_CONFIG parameter in BlueOS.

image
image1460×1348 207 KB

3

Hi @Vkoppireddy1,

Are you wanting

  1. frame selection (like in Tony’s response, and coming soon in a very nice form to the BlueOS vehicle setup page), or
  2. choosing a subset of motors from an existing frame, or
  3. setting manual thrust configuration factors, in a custom frame?

The relevant approach depends on what you’re actually trying to do.