Hi @williamgalvani
Have done a series of Arm/Disarm
Made some joystick movements on various axis…hopefully not confusing.
MAVLink-server was selected.
Running BlueOS master
Still seeing vertical thrusters progressively speedup upon “arm”
_ardupilot_logs.zip (8.6 MB)
@UnderseaROV William found in your logs that for some reason Cockpit is sending a full-range value (1000) on the S axis, which is causing your motors to spin.
I’m investigating to see what could be causing this.
To help me on that, could you download this version of Cockpit (you can find options for all OSs in the bottom)? You will find that this version has a MAVLink inspector/console in the Menu/Configuration>Dev menu.
There I ask you to select the MANUAL_CONTROL message. With this message selected, do the tests with the joystick (e.g.: move the sticks, click buttons, arm, disarm, etc). The inspector should show what is being sent to the vehicle.
Please perform those recording the screen, so we can take a look on what is happening.
Thanks again for your patience and feedback 
Hi Rafael,
The links to the downloads are not active. I see under the “Artifacts” section a …win…exe file but I cannot download it.
Hi @UnderseaROV
You need to login to github in order to be able to download artifacts
Hi William, The video shows all axis being input, then a series of arm/disarm button sequences. (Arm is mapped via a “shift” button combination)
Hi @UnderseaROV .
I Believe I found the source of the issue!
It looks like whenever you arm, you are also sending a trim_pitch_inc button press, which increases a “bias” on the pitch channel:
Now that could be a cockpit bug…
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Hi @UnderseaROV ,
On the logs it seems like you are pressing 3 buttons at the same time. This does seem to be a bug. In order to workaround this, you should be able to just unset BTN11_SFUNCTION from trim_pitch_inc to Disabled.
As we assume you are not pressing 3 buttons at the same time, so we’re investigating what could cause this.
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@UnderseaROV also, if you could export your parameters before changing them, and also your joystick mapping, that would help a lot on my debug inside Cockpit, to find the root cause.
To export your joystick mappings, you can open the “Bag Editor” in BlueOS (you need to be on Pirate Mode) and copy paste it to a file here.
BagSettings.txt (139.5 KB)
Submarine-4.5.0-STABLE-20241214-113414.params (18.9 KB)
Setting the “BTN11_Function” parameter to “Disabled” works…no thruster movement when armed.
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Thanks Ian!
@Framau @UnderseaROV @FlyingManta I’m marking William’s last message as the solution for this post, so people that arrive here with the same problem can know how to work around it, but as the root cause seems to be something in the Cockpit routine for joystick mapping, I’m still investigating it so people stop having trouble at all.
Hi @rafael.lehmkuhl, Bad news, after doing in-water tests I found the problem still exists, even with the BTN11 disabled. I must not have armed and disarmed more than once when I first tested. Apologies.
Hey Ian!
You probably unmapped the trim_pitch_inc function in BlueOS but not in the Cockpit joystick configuration page, right? My bad. I forgot to tell you that.
Cockpit tries to enforce it’s known joystick configuration on the vehicle, so if it had the trim_pitch_inc in its memory, it will try to remap it in the vehicle if you removed it from there.
You just have to unmap it in the joystick configuration page. Just for peace of mind, after unmapping it, restart Cockpit and check if it’s still unmapped, and then check also in the BlueOS parameters if it’s not there. Then you’re good to go.
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Hi Rafael, I have checked, but I have no pitch or roll functions mapped to any buttons in Cockpit. My joystick does all the pitch and roll control.
My Button 11 in Cockpit is mapped to Depth Hold mode.
Hi All, I’m unsure if this is relevant but I have attached a few screenshots of my buttons, as seen by Cockpit and Windows USB game-controller tool. Cockpit shows duplicates of my button 15 and button 13 is missing. Button 13(14) isn’t being seen anywhere by Cockpit, whereas it functions correctly when viewed/tested by the Windows USB Game Controller.
That definitely helps and can be related to the issue. I will continue the investigation.
Just to confirm, this problems persists between Cockpit sessions right? Also, what happens if you try to unmap one of the id=15 buttons?
OK I have unmapped button 15, and used arm/disarm on other buttons. Seems to work O.K. so far. I did a few arm/disarm sequences and there was no thruster movement. (Thrusters work as expected when joystick moved)
Button 15 still shows as duplicated and in the button 13 location, but both unmapped.
Glad to hear that Ian! And we will fix this bug soon!
Hi Rafael-
I am running into the same issue where the verts run when the vehicle is armed and the input value increases with each arming/disarming cycle.
I tried a couple of controllers running BU0836X interface boards. Also an older X Box controller. I tried disabling all buttons on the joystick (except arm/disarm on various button assignments 0-5) including button 11 and 15 as described in previous posts for a workaround in cockpit.
Any more insight into this issue? Do you need any more .log or .bin files to assist with troubleshooting? Was there a fix released that I missed?
I am running:
Navigator/Pi4
Cockpit Version: 1.12.0
Firmware 4.5.1
Blue OS 1.3.1
Thanks in advance.
Josh
Hi @VisionSubsea -
It’s likely your vertical axis is mapped incorrectly. Can you share a screenshot of your Cockpit joystick interface settings in table view, showing the axis configuration at the top?
Hey @tony-white. Thanks for the response. I hope it is something simple like an incorrectly mapped vert input! But I believe I have all the JS commands disabled at the moment:
I do get this error when I startup which makes me wonder if TRIM PITCH or other vertical command isn’t being stored in BlueOS?
All other JS button functions seem to be working except Button 5 and 6 (Mount Tilt Up/Down); they were working correctly but for some reason seem to have stopped. I have disabled 11 and 15 per this thread.
Thanks for your assistance. Please let me know if you need additional info or have any further ideas of TS steps.
Thanks,
Josh