New Blueboat_Starboard motor will keep spinning

Blue Robotics Vehicles BlueBoat
1

Hi everybody,

We got our new Blueboat last week and assembled it following the available guides.
During the software setup, while checking motor directions we noticed that the starboard side motor would keep spinning (slow speed) after the slider was moved down and would only stop if the boat was powered down.

After the controller setup we found out that the Starboard motor will keep spinning if foward command is given for a few seconds, but it will stop if we briefly reverse it. Sometimes, even after it stopped, the motor will keep twitching and producing noise like it wants to move and a quick reverse will also stop this. When spinning, Disarming has no effect, the motor will keep going. I switched the starboard motor to the port side and it works as intended, so its probably not related to the motor.

Is it a faulty ESC? Or is it something that can be adjusted in the parametres?

We are running the latest BlueOS version and tried both 4.4.0 and the latest stable ardusub on both Qground 4.2.8 and 4.4.4. Also tried loading the Blueboat120 params in BlueOS.
Nothing changes.
Couldn’t find any similar issues in the forum.

Any ideas how to solve this?

2

My blueboat does the same thing. Have you tried calibrating the joystick?
Curious to know if you find a solution.

3

Hi @FredO and @CA_BlueBoat -
This is a known issue, and has an easy fix! The timing of the ESC 500 can vary very slightly on each unit, this has been corrected in newer BlueBoat model Basic ESC 500s, but can crop up on older ones or on the standard Basic ESC 500.
To fix, you simply need to adjust the 0 throttle trim point - by default it is 1510, but you may need to adjust it upwards or downwards 10-20 microseconds to have the propeller stop more reliably.

Navigate to Autopilot Parameters, and search Servo#_trim to make the adjustment

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4

Thanks Tony,

Adjusting downwards 10-20 microseconds in Servo1_trim (the right motor) solved the issue!

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