Manually controlling two additional T200 motors on BlueROV2 heavy

Blue Robotics Software
1

hello there,
I’m trying to add control over 2 additional T200 motors in a BlueROV2 heavy.
I’m still working with QGC and I’m trying to understand the best way to set this up together with BlueOS.
First, I should say that I noticed strange phenomena in BlueOS PWM outputs page, in parameter editor under servoX_function, its seems like that the drop down list is changing from time to time when I go in to choose a function from this list, sometimes displaying values that I haven’t seen before, I’m not sure if it related to the data not acquired fully when loading blueos or some other reason.

I managed to assign mount_pan (that by the way later changed its name by itself to mount_yaw) and control one of the additional thrusters this way ,but I’m left with no other relevant pre-defined function for the 2nd thruster.

I tried to configure servo1 & 2 for this task but something either seems to be colliding between QGC and BlueOS or, more likely, I’m not doing it the right way.

I’ll be happy if you could assist with this one. Thanks!

2

Hi @odedezra,

If you’re using the latest stable ArduSub (4.5.6) and you can (/will need to) assign the outputs you want to control with “servo” joystick button functions as ActuatorN (e.g. N=1 for servo_1_* button functions[1]). There’s some context / additional details here :slight_smile:

For older ArduSub versions those “servo” button functions are hardcoded to correspond to outputs 9, 10, and 11, which you can enable by configuring those outputs as Disabled (0).

  1. Note that these joystick functions have actually been renamed as actuator_n_* to match the output designation, but QGC doesn’t know about that. ↩︎

3

Hi @EliotBR

Thanks for the info.

I actually couldn’t find ActuatorN anywhere, not in BlueOS PWM page - parameter editor or in QGC. the only thing close to it is Actuatorn_INC in QGC’s paramters but I’m assuming its not the one we’re looking for.

BUT, I did change Servo11 in QGCs parameters to 186, and in BlueOS PWM page to custom:186 and now it works. For some reason it doesn’t work with servo9 set to 185, possibly a faulty IO.