# Frame in ardusub

**URL:** <https://discuss.bluerobotics.com/t/frame-in-ardusub/14744>\
**Category:** ArduSub\
**Tags:** ardusub\
**Created:** [July 19, 2023, 1:35pm UTC](https://discuss.bluerobotics.com/t/frame-in-ardusub/14744 "2023-07-19T13:35:52Z")\
**Posts on this page:** 1\
**Showing post:** 4

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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:** [November 14, 2025, 12:43pm UTC](https://discuss.bluerobotics.com/t/frame-in-ardusub/14744/4 "2025-11-14T12:43:58Z")

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Hi @mnpmilan,

[This comment](https://discuss.bluerobotics.com/t/costum-rov-with-12-motors/12158/7) may be a good starting point for your understanding of thruster contribution factors, and [this one](https://discuss.bluerobotics.com/t/vectored-thruster-orientation/7060/74) covers some specifics of the BlueROV1 frame.

From your picture, at a high level your 1/2/3/4 thrusters contribute to vertical, pitch, and roll motion, so should have non-zero factors for those, and your 5/6 contribute to forward and yaw motion. You don’t have any lateral control authority. The actual numbers depend on the mass, volume, and thrust distribution of the vehicle.

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