# Custom Thruster setup

**URL:** <https://discuss.bluerobotics.com/t/custom-thruster-setup/15202>\
**Category:** BlueOS\
**Created:** [October 5, 2023, 6:40pm UTC](https://discuss.bluerobotics.com/t/custom-thruster-setup/15202 "2023-10-05T18:40:05Z")\
**Posts on this page:** 1\
**Showing post:** 5

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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:** [July 31, 2024, 5:02pm UTC](https://discuss.bluerobotics.com/t/custom-thruster-setup/15202/5 "2024-07-31T17:02:34Z")

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Hi @Aashley,

@Petter007’s frame was similar enough to the original BlueROV one that they may have just selected it from [the built in options](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/airframe_ardupilot.html#ardusub).

> [@Aashley](#):
>
> I am also facing problem in understanding the steps of custom configuration.

[This thread](https://discuss.bluerobotics.com/t/qgroundcontrol-custom-configuration/12517/2) covers the main links for how to go about building an ArduSub version with a custom frame.

If you want the frame to have a specific name and/or image in QGroundControl then [this thread](https://discuss.bluerobotics.com/t/naming-the-custom-frame-configuration/12198/3) covers the main steps required, which is more in line with what this post was about.

> [@Petter007](#):
>
> I read that ardupilot has an “automatic motor direction setup”, and as I understand that BlueOS is based on ardusub.

Since this never got clarified, this isn’t quite correct - there’s some more detailed information about the differences between BlueOS and ArduSub (and an overview of our typical software stack options) in [this comment](https://discuss.bluerobotics.com/t/using-blue-robotics-components-for-mate-rov-competition/17152/2), which I haven’t yet had a chance to add to our documentation.

> [@Petter007](#):
>
> I also read that in the “ Vehicle Setup” page in BlueOS, will in the future, be able to do the automatic detection.

This is now available, in recent BlueOS 1.3.0 beta releases, and will be included in the next stable release (which should be in a couple of weeks) 👍

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