How to realize control allocation with BlueROV?

[EliotBR (Eliot)]

Hi @Lili_Marleen,

This comment addresses most of your post, but feel free to ask follow-ups if you want some extra information on anything in particular

Pymavlink outputs PWM to the motor

Hi @Teshla, welcome to the forum The MAV_CMD_DO_SET_SERVO command only applies to non-motor outputs. If a PWM output is assigned as a motor then you won’t be able to control it as a servo. Control of individual thrusters with a single message isn’t possible with the current MAVLink specification, but there are some workarounds for it discussed here if you’re interested. Is there a particular reason you want/need to control individual thrusters? Generally control is simpler when …