We have a Blue ROV2 that was purchased in March 2018. It’s typically used in the ocean for light commercial inspection work around British Columbia, Canada.
It has been great to use and has worked extremely well for our intended purpose.
However, about 6 months ago, it developed an issue.
Basically, the vehicle will list to starboard when in depth hold or stabilize flight mode. When we change back to manual flight mode, the vehicle will level out. And if we change back to depth hold, it will list again.
The artificial horizon seems to be functioning correctly and tracks the movement of the vehicle correctly.
The problem seems to be somewhat intermittent.
I have noticed this happening occasionally when we first start the dive, with a list of maybe 3-5degrees. But it becomes more apparent after 45mins or and hour into the dive where it will list 15 degrees.
Again, switch to manual flight mode and the vehicle with level out, then back to depth hold and it will list. The depth does not seem to effect the issue.
Maybe the time taken for the issue to get worse is related to the internal temperature or lower battery voltage?
The ROV is trimmed as level as possible and as close to neutrally buoyant as possible. We typically operate on 25% gain.
When this first started happening, per suggestions from Blue Robotics, we updated the software, and recalibrated the sensors.
All the thrusters seem to spin freely and feel the same to spin by hand. I’ve checked all the connections and all seem ok.
Does anyone have any suggestions before we go ahead and order new thrusters and ECS’s in a hope that will fix the issue?