# Motors not arming after installing Heavy retrofit kit

**URL:** <https://discuss.bluerobotics.com/t/motors-not-arming-after-installing-heavy-retrofit-kit/12968>\
**Category:** BlueROV2 Heavy\
**Created:** [September 26, 2022, 2:32pm UTC](https://discuss.bluerobotics.com/t/motors-not-arming-after-installing-heavy-retrofit-kit/12968 "2022-09-26T14:32:29Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![fhmrocha](https://avatars.discourse-cdn.com/v4/letter/f/898d66/32.png) [@fhmrocha](https://discuss.bluerobotics.com/u/fhmrocha)\
**Post date:** [September 26, 2022, 2:32pm UTC](https://discuss.bluerobotics.com/t/motors-not-arming-after-installing-heavy-retrofit-kit/12968/1 "2022-09-26T14:32:30Z")

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Hey guys! Need some help here. I have 2 BlueROV2, one of them with the DVL-A50, and tried installing the Heavy retrofit kit on it. I followed the instructions, and everything works fine, including the motor test page. But, when i press the ARM button, the servo outputs on the SERVO\_OUTPUT\_RAW page goes to 0 (as shown below).

 ![Armed](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/a/ac435e65a88437234935e27f9e73ca58984e6506.png)

And when I press the DISARM, the ESCs make a sound and the SERVO\_OUTPUT\_RAW goes to 1500.

So, is there anything that I can try to fix it? As I need the DVL, I’m using the Ardusub Beta version (as described in the instructions), and companion 0.31.  
Thank you

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**Author:** ![fhmrocha](https://avatars.discourse-cdn.com/v4/letter/f/898d66/32.png) [@fhmrocha](https://discuss.bluerobotics.com/u/fhmrocha)\
**Post date:** [September 28, 2022, 5:52pm UTC](https://discuss.bluerobotics.com/t/motors-not-arming-after-installing-heavy-retrofit-kit/12968/2 "2022-09-28T17:52:33Z")

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I fixed following the reset parameters tip on this page:

[https://discuss.bluerobotics.com/t/ardusub-4-1-0-thrusters-not-answering-joystick-commands/12720/10](https://discuss.bluerobotics.com/t/ardusub-4-1-0-thrusters-not-answering-joystick-commands/12720/10)

I’m using 4.1.0 beta (as I need DVL functionality), QGroundControl 4.2.3, and companion 0.0.31.

Waiting to go to the field to test DVL poshold.

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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:** [September 29, 2022, 3:47am UTC](https://discuss.bluerobotics.com/t/motors-not-arming-after-installing-heavy-retrofit-kit/12968/3 "2022-09-29T03:47:57Z")

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Hi @fhmrocha, welcome to the forum 🙂

Glad you managed to resolve the issue on your own - the advice in that thread is what I would have pointed you to anyway, so it’s good you were able to find it 🙂