# Motor Control Issues for BlueROV

**URL:** <https://discuss.bluerobotics.com/t/motor-control-issues-for-bluerov/10850>\
**Category:** Blue Robotics Software\
**Created:** [October 22, 2021, 4:07am UTC](https://discuss.bluerobotics.com/t/motor-control-issues-for-bluerov/10850 "2021-10-22T04:07:48Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![alexngai](https://avatars.discourse-cdn.com/v4/letter/a/439d5e/32.png) [@alexngai](https://discuss.bluerobotics.com/u/alexngai)\
**Post date:** [October 22, 2021, 4:07am UTC](https://discuss.bluerobotics.com/t/motor-control-issues-for-bluerov/10850/1 "2021-10-22T04:07:48Z")

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I’m trying to control the BlueROV using a standard logitech controller (the one recommended in the documentation) but the controls seem to map very oddly. Checking the UI, the joysticks map correctly to forward/lateral/thrust/yaw axes.

In manual mode:  
When I press forward on the forward joystick, the robot yaws counterclockwise/left, and when I press down on the forward joystick, the robot yaws clockwise/right. Lateral left goes clockwise/right, and lateral right goes counterclockwise/left. Thrust forward rolls to the right, and thrust down rolls left. Yaw left goes left/counterclockwise, and yaw right goes right/clockwise.

Could it be that the trims for everything need to be adjusted? All the gains/maximum in the tuning tab of QGroundControl are set to 0 right now. I searched for guidance on trimming to resolve these issues but unfortunately could not find anything. I double checked to make sure the motors were hooked up correctly, and everything (motor positions and polarity) looks correct when I test each motor separately. I’m not sure if there is something I need to configure that I have missed? I recalibrated the compass and accelerometer as well. Do you have any ideas on how to get steering/controls to work as expected?

We made sure the controller was set to “X” similar to [BlueRov2 motor control tuning - #5 by searover2021](https://discuss.bluerobotics.com/t/bluerov2-motor-control-tuning/10636/5)

Attached is a video showing the ROV’s movement: [video-1634872844.mp4 - Google Drive](https://drive.google.com/file/d/14inEsPKq1ch-YxJQCPCMAQpvvils9LQe/view?usp=sharing)

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**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\
**Post date:** [October 22, 2021, 6:27am UTC](https://discuss.bluerobotics.com/t/motor-control-issues-for-bluerov/10850/2 "2021-10-22T06:27:51Z")

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Hi @alexngai,

Thanks for the detailed breakdown of what you’ve done so far, and what you’ve checked/tested 🙂

> [@alexngai](#):
>
> When I press forward on the forward joystick, the robot yaws counterclockwise/left, and when I press down on the forward joystick, the robot yaws clockwise/right. Lateral left goes clockwise/right, and lateral right goes counterclockwise/left. Thrust forward rolls to the right, and thrust down rolls left. Yaw left goes left/counterclockwise, and yaw right goes right/clockwise.

Can you try the [Automatic Motor Direction Detection](https://www.ardusub.com/reference/ardusub/motors-setup-page.html#automatic-motor-direction-detection-setup) process? This sounds like some of your thrusters may be reversed, which is what that process is made to detect and account for 🙂

> [@alexngai](#):
>
> All the gains/maximum in the tuning tab of QGroundControl are set to 0 right now.

That’s odd, although not necessarily relevant to your main issue because the tuning parameters are only used in stabilisation modes, not manual mode.

Which version of ArduSub are you running? It should tell you in the Frame section (bottom right) of the QGC [Summary](https://www.ardusub.com/reference/ardusub/summary-page.html) page. If you’re not on 4.0.3 then I’d recommend updating to the latest Stable version, which you can do from the [System](https://www.ardusub.com/reference/companion/system.html) page of the Companion Web Interface ([http://192.168.2.2:2770](http://192.168.2.2:2770)). If there’s an update available for your Companion computer you’ll need to do that first (there was a recent issue that stopped Pixhawk firmware downloads on Companion, which the latest Companion update fixes).

It may also be worth [Loading Default Parameters for BlueROV2](https://www.ardusub.com/reference/ardusub/frame-setup-page.html#loading-default-parameters-for-bluerov2).