# Individual thruster control

**URL:** <https://discuss.bluerobotics.com/t/individual-thruster-control/15111>\
**Category:** ArduSub\
**Created:** [September 21, 2023, 11:27pm UTC](https://discuss.bluerobotics.com/t/individual-thruster-control/15111 "2023-09-21T23:27:08Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![cmarq](https://avatars.discourse-cdn.com/v4/letter/c/ee59a6/32.png) [@cmarq](https://discuss.bluerobotics.com/u/cmarq)\
**Post date:** [September 21, 2023, 11:27pm UTC](https://discuss.bluerobotics.com/t/individual-thruster-control/15111/1 "2023-09-21T23:27:08Z")

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I have previously shown interest in controlling all thrusters on the blueROV individually.

I eventually just tried recompiling ardusub with a custom frame where each motor has a single degree of freedom.

When I uploaded this and changed the configuration to custom in QGroundControl, I tried to command a single thruster and I am still getting multiple thrusters firing even though they should all be decoupled. I confirmed by looking at RC channels in the analyze section of QGC that only one channel was being changed from 1500

Any idea why this may be?