Hello,
We have a Navigator flight controller in our ROV. We placed it slightly angled inside the tube but adjusted for that by changing the Ardupilot parameters (CUST_ROT). All motions correctly displayed on the leveling horizon, but roll was inversed. We were wondering if this was normal and wouldn’t effect auto leveling. If it isn’t normal, what can we do to fix it?
Hi @Felipe, welcome to the forum 
Are you saying the displayed roll is inverted, or the roll actions of your thrusters are inverted?
Did you calibrate the accelerometer after setting up your custom rotations?
A properly calibrated and configured vehicle should show the roll as zero when it is placed on a level surface. If that’s not the case then you either haven’t run a relevant calibration, or have specified an incorrect orientation for your flight controller board.
If the motors are generating thrust in an incorrect direction for certain motion axes then they are either connected to incorrect ESCs, connected in a reversed orientation to an ESC (which can be corrected for in the autopilot parameters, by reversing the relevant output channel), or have incorrectly assigned thrust factors in the motion axis contribution matrix for your selected frame.
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