I’m able to set the system from Manual mode to Depth Hold mode, but I cannot seem to find a way to set it back to Manual mode.
I need this since I’ve untethered the ROV and if it’s in Depth hold mode and I stop sending commands from the RPi then the ROV doesn’t come back up.
I’ve tried disarming the motors at the end of my programmed mission, but for some reason that command doesn’t always seem to take. So, I’m hoping that by setting back to manual mode, then if I stop sending commands the ROV will come back up.
I do need depth hold mode since I cannot get it to hold depth as well with my straight PID in manual mode.