# Just how much support does the BlueRov2 have for PX4?

**URL:** <https://discuss.bluerobotics.com/t/just-how-much-support-does-the-bluerov2-have-for-px4/17351>\
**Category:** BlueROV2 Heavy\
**Created:** [July 5, 2024, 5:53am UTC](https://discuss.bluerobotics.com/t/just-how-much-support-does-the-bluerov2-have-for-px4/17351 "2024-07-05T05:53:02Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![armedbot](https://avatars.discourse-cdn.com/v4/letter/a/f19dbf/32.png) [@armedbot](https://discuss.bluerobotics.com/u/armedbot)\
**Post date:** [July 5, 2024, 5:53am UTC](https://discuss.bluerobotics.com/t/just-how-much-support-does-the-bluerov2-have-for-px4/17351/1 "2024-07-05T05:53:02Z")

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I see in [this](https://docs.px4.io/main/en/frames_sub/#videos) and [this](https://docs.px4.io/main/en/frames_sub/bluerov2.html) documentation that the PX4 provides experimental support for the BlueRov2 Heavy Configuration. I am building an app that lets users control the BlueRov2 using MAVSDK and that is the reason I plan to use the PX4 firmware. So far, I have my app working with [Gazebo Classic simulators](https://docs.px4.io/main/en/sim_gazebo_classic/). Are there any caveats I should be aware of as I test my app on the Bluerov2 Heavy Configuration?

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**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\
**Post date:** [July 31, 2024, 12:18pm UTC](https://discuss.bluerobotics.com/t/just-how-much-support-does-the-bluerov2-have-for-px4/17351/2 "2024-07-31T12:18:19Z")

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Hi @armedbot,

Blue Robotics hasn’t contributed to the PX4 firmware, so we don’t have a good sense of its capabilities when used with the BlueROV2.

That being said, we have been working recently to add PX4 firmware management support as an option in BlueOS, so at least that side of things is in the works.

> [@armedbot](#):
>
> Are there any caveats I should be aware of as I test my app on the Bluerov2 Heavy Configuration?

Per the warning in your first docs link,

> [@PX4 Docs - Submarines - WARNING](#):
>
> … The following features have not been implemented:
> 
> - Modes like missions, depth hold, stabilised manual control, etc.
> - BlueRobotics gripper support.