After several successful test flights, I am excited to let you all know that I have modified the ArduCopter code to run on the BlueROV. The flight modes supported are acro, stabilize, altitude (depth) hold, and land (surface). Acro works, but needs some tweaking, the other flight modes work beautifully.
Right now, the code requires an external pressure sensor MS5803 to be connected via I2C. This can be modified to allow acro and stabilize modes only.
The code runs with a modified version of the bluerov ros package.
Lots of useful telemetry is provided through APM ground control station software, which can also be used to modify many parameters on the flight controller.
Anyone who is interested in using this should keep in mind that this code an experimental proof of concept. Take appropriate measures to operate safely and be prepared to react to unexpected behavior. Let me know, and I will help you get set up.
The guys at bluerobotics are working on making similar modifications to the pixhawk/linux apm code. This implementation will be more fully featured and refined, and more parameters useful for an rov application will be introduced.