Hi @Guillaume1, welcome to the forum
QGroundControl provides a Motors Setup page which allows you to manually test individual motors. I searched the QGC github page for
Motor Test and found this commit, which shows that
src/Vehicle/Vehicle.cc uses the mavlink message
MAV_CMD_DO_MOTOR_TEST to achieve that. Your ROV will need to be armed to use it (as with any thruster/motor message), and I believe you’ll need to be in Manual mode.
I’m not sure what your use-case is, so if you’re just after a testing scenario then the information above is likely sufficient. If you’re wanting to understand how the thruster directions are understood by ArduSub:
- the BlueROV2 Heavy frame configuration is here
add_motor_raw_6dof function signature is here
- info on making/adding a custom frame configuration to ArduSub is here (you could conceivably make a custom configuration which moves up to 6 thrusters individually with your normal joystick movements, assuming you’re happy to operate only in manual mode)
If you’re wanting to keep your frame the same but sometimes control individual thrusters then if you particularly want you could create an inverse-mapping of the frame configuration which would allow you to set motion based on individual motor control. That kind of control is likely much better off inside ArduSub though, since it can operate at a much faster rate and doesn’t have communication overhead. You could possibly add a custom control mode that basically does manual mode but with an inverse mapping in front, or ideally a lower level one that bypasses the existing mapping and just directly sets motor values.