Hello, I am working on a project to enable underwater robots to adapt at runtime, and I am using a BlueROV as testbed. My goal now is to simulate thruster failures. For this, my plan is to deactivate thrusters at runtime, and to react to it by changing the robot frame configuration. I have two qu…

Hi @rezenders , interesting question :slight_smile: There is currently no general way to dynamically change the frame, although it is something we’re interested in making possible . That said, given you’re specifically trying to simulate failures, you should be able to achieve an equivalent result b…

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 …

Thanks for the reply @williangalvani . I guess the lua script should be something like this , right? I have a few questions: Does this line mean that the Motor_dynamic methods can only be used with ArduPlane, Copter or Heli? If I use a Lua script like this to set the motors contributions, do I nee…

[image] Gustavo Rezende: Does this line mean that the Motor_dynamic methods can only be used with ArduPlane, Copter or Heli? Yes. this is not currently supported in Sub, but I’m keen on having this feature. [image] Gustavo Rezende: If I use a Lua script like this to set the motors contri…

Hi @williangalvani , Sorry for the delay to reply. I had other tasks in hand and I wanted to spend some time checking ArduPilot code to better understand what you sent. I made some simplified Class and Activity diagrams with the relevant information for both ArduSub and ArduCopter to better communi…

I have been trying to work in this feature but I got stuck. I opened a draft PR to discuss it: [ArduSub] Add scripting support to motors by Rezenders · Pull Request #22114 · ArduPilot/ardupilot · GitHub Do you have any idea/tips for me?

Hi @rezenders , I’m not that familiar with that section of the code, but I’ll give it a go, too.

@rezenders I’ll get in touch with you privately so we can work on this together

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

Blue Robotics Software ArduSub

williangalvani (Willian Galvani) October 21, 2022, 1:45pm 4

Hi @rezenders,

Check out the new lua motors backend that Peter Hall has been pushing. I suspect it would suit your needs.
I don’t really know how much work it would take to get it running, but it should suit your needs.

BlueROV2 Vectored Configuration Throttle Factor

Topic		Replies	Views
Custom Thruster\|Frame configuration Blue Robotics Software ardusub	13	2287	November 26, 2019
ArduSub SITL Custom frame ArduSub sitl , simulate	2	1637	May 20, 2020
Vectored thruster orientation Thrusters and Motors ardusub , vehicle-design	79	10407	November 20, 2025
Custom Frame - Variable 6DOF matrix Blue Robotics Software	2	1129	November 11, 2019
Ardusub Build for New motor configuration Blue Robotics Software ardusub	8	2709	September 10, 2018

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

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

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