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Manual and stabilized mode in simpleROV-4 and sensors

Hi
I want to build four thrusters ROV with the simpleROV-4 frame configuration and also my robot’s frame is not BlueRobotic’s. Some questions make my mind busy are:

  1. Does ArduSub provide stabilization (pitch, roll, and altitude hold) in stabilized mode with this configuration?
  2. Is lateral movement possible with this configuration in normal and stabilizing mode?
  3. Should I change any parameters due to different spacing between motors than the platform you’ve tuned in ArduSub (my thrusters oriented symmetric and laid like simpleROV-4)
  4. can I use custom sensors with existing protocols?

it is able to stabilize Roll and altitude, but not pitch.

No, but you can fix that by adding another thruster and turning it into a simpleRov5

It is likely that you will require some tuning, yes. What do you mean by “oriented symmetric”?

This should be fine, but we could help you more if you said which sensors you have in mind.

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Thanks for your quick and complete response.
I made a mistake in typing and wrote pitch instead of the yaw but got my answer by the way.
SimpleROV-5 obviously has lateral movement, but lateral movement in simpleROV-4 in my idea can be done by little unequal thrust (with the low throttle) in vertical thrusters. Seem ArduSub firmware needs some tweaks.
I meant by “oriented symmetric” that the thrusters are at the same level and the same distance from the midpoint.
Another thing I forgot to ask is: how much is the maximum tolerable motion in roll, yaw, altitude hold in stabilizing mode which Ardusub can stabilize?

“Another thing I forgot to ask is: how much is the maximum tolerable motion in roll, yaw, altitude hold in stabilizing mode which Ardusub can stabilize?”
any one couldn’t help?