# Custom ROV thruster setup

**URL:** <https://discuss.bluerobotics.com/t/custom-rov-thruster-setup/20569>\
**Category:** BlueOS\
**Created:** [June 4, 2025, 2:28pm UTC](https://discuss.bluerobotics.com/t/custom-rov-thruster-setup/20569 "2025-06-04T14:28:01Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Vkoppireddy1](https://avatars.discourse-cdn.com/v4/letter/v/ce73a5/32.png) [@Vkoppireddy1](https://discuss.bluerobotics.com/u/Vkoppireddy1)\
**Post date:** [June 4, 2025, 2:28pm UTC](https://discuss.bluerobotics.com/t/custom-rov-thruster-setup/20569/1 "2025-06-04T14:28:01Z")

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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.

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**Author:** ![tony-white](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/tony-white/32/13297_2.png) [@tony-white](https://discuss.bluerobotics.com/u/tony-white)\
**Post date:** [June 4, 2025, 4:57pm UTC](https://discuss.bluerobotics.com/t/custom-rov-thruster-setup/20569/2 "2025-06-04T16:57:48Z")

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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…](https://github.com/mavlink/qgroundcontrol/releases/tag/v4.2.8)

 ![image](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/d/d12de1cc6c38a6a5152163ed71d2c1c77a6c952e.png)  
You’ll need to use one of these thruster arrangements, or create your own [custom one](https://www.ardusub.com/developers/developers.html#making-a-custom-configuration). 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.](https://blueos.cloud/docs/latest/usage/advanced/#autopilot-parameters)

 ![image](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/2/2f1184e65c0a7bc33c9e166f8c15362457b682be.jpeg)

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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 4, 2025, 9:03pm UTC](https://discuss.bluerobotics.com/t/custom-rov-thruster-setup/20569/3 "2025-06-04T21:03:10Z")

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Hi @Vkoppireddy1,

> [@Vkoppireddy1](#):
>
> Could anyone tell me how I can change how many motors I am using on BlueOS?

Are you wanting

1. frame selection (like in Tony’s response, and [coming soon](https://github.com/bluerobotics/BlueOS/pull/3326) 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.