Because the ArduSub firmware has been in a constant state of change and it is a PITA to pull the BBBMINI navigation controller out of its WTC, I have also been working on a three thruster ROV configuration that combines a BR BlueROV1 chassis (no thrusters or WTC) and three T100 Thrusters with an OpenROV 2.8 Developer’s Controller Kit, WTC, and IMU/Compass/Depth Module.
The WTC for the batteries will be mounted on the underside of the chassis instead of on top where the Vertical Thruster is now mounted. That is the reason for the HDPE extenders on the bottom of the chassis to get clearance for the 4" dia BR WTC. The OpenROV 2.8 Controller chassis will be mounted in a WTC that will be mounted laterally on the front of the ROV chassis.
The only limitation of this hybrid ROV is the fact that the OpenROV Controller is not designed to handle the maximum current required by the BR T100 Thrusters. Therefore the ROV cannot be run at its full thrust, but close to it fortunately.