I was testing a BlueRov2, with six thrusters, yesterday and everything worked fine in manual mode, but when I tried stabilize or depth-hold, the ROV went “crazy” and multiple thrusters just started blowing.
When I test on land, the stabilize mode makes one of the vertically thruster blow upwards and the other downwards. Depth hold just makes them both blow upwards. Nothing happens to the horizontal thrusters. I have checked the Motor Setup in qGroundControl multiple times and everything looks fine to me.
qGroundControl and Pixhawk should be up to date.