How to realize control allocation with BlueROV?

[EliotBR (Eliot)]

The main advice is this:

@jwalser

The autonomous/gps enabled modes are not stable, but have been demonstrated. They are basically for developer use only right now, so there is not a lot of information and you will need to look at the source code to see exactly how it works. You should be able to use auto mode for the way points …

Beyond that, these links may be relevant

• Set waypoints via pymavlink
• Guided Mode — Copter documentation
• Auto Mode — Copter documentation

It’s also worth noting that ArduSub >= 4.1 has support for visual odometry, which is what we’ve used for DVL integration.