Is it possible to adapt at runtime the motors contribution to the 6DOF?

Blue Robotics Software ArduSub
3

Thanks for the reply @EliotBR

You can do that by setting the relevant SERVOn_FUNCTION parameter from Motor{n} to Disabled (0),

Thanks, I will do that. One more question, does the motion controller takes this into account in order to calculate the required thrust? Probably not, right? For my use case, it would be better if it does not take into account and the movement goes “bad”. Then I can switch to a different frame and ideally the movement would be “better”.

Just for completeness, yes, it is possible to switch between frames in ArduSub via QGroundControl (or just setting the FRAME_CONFIG parameter) and then rebooting, but the parameter is only set up to have a single custom frame, so to have several options you can switch between you would need to either replace some of the other existing frames or go to some extra effort enabling a larger number of frame options.

Ok. I will go with one frame for now, considering that only one specific thruster can fail and then when I get it working I can check how to expand to more scenarios.

There is currently no general way to dynamically change the frame, although it is something we’re interested in making possible.

Is this something that would require a lot of knowledge about how Ardupilot/ArduSub works? I could pottentialy help with this, but so far I only have knowledge from the user side.

Just to let you know, I am not using QGC, I am using ROS + mavros to command the robot. The idea is that this whole process happens autonomously.