Hi All: Last week I tested a newly-built BROV2 (6-thruster configuration), and noted an odd problem. The thrusters all worked perfectly fine in manual mode, but if the vehicle was in either stabilized mode (HH or DH/HH) then the gain on the vertical channel (climb/dive) was suddenly greatly reduce…

Hi Jacob: So I got a new thruster in the ROV, and last week I managed to do a lake test with it. I was not able to reproduce the problem. So the issue was probably a creeping failure of a phase wire in the one vertical thruster, coupled with the leveling function of the stabilized mode. I will k…

Hello Walt, can you please upload a parameter file from your vehicle, and when you get a chance, a short telemetry log to demonstrate the problem. You may check the JS_THR_GAIN parameter which seems to be involved, the default value is 1.0.

Hi Jacob: Attached is the parameter file. Unfortunately the log file from the day in question is huge. I’m going to try to recreate the issue in my bathtub, hopefully that will work. Walt Holm_DeepROV_Params_20200709.params (25.9 KB)

Hi Jacob: So I got an interesting result when doing the bathtub test. It looks as if one of the vertical thrusters has an issue, maybe in the ESC, maybe in the wiring, but for whatever reason it barely works at all. This certainly wasn’t an issue when I dry-tested the ROV upon initial assembly, a…

Hi Walt - yes the vehicle tries to straighten itself out to be perfectly level in stabilize and depth hold modes. In manual mode, it doesn’t perform any sensor-based corrections, it just passes the pilot’s joystick movements to the motors. Were you at sea when you experienced the issues in your fir…

Hi Jacob: Thanks for the reply. Yes, I was at sea when I encountered the stabilization issues. That was before there were any thruster issues, as the vehicle worked perfectly fine in manual mode. I took a look at the dataflash logs on the vehicle’s Pixhawk, and, similar to the Telemetry Logs, th…

Hi Jacob: I cracked open the ROV today, it turns out there was an open winding in the thruster of the bad channel. Easy to diagnose, but will take a bit longer to fix. Every T200 I have is in a project right now, so I’ve got a new one on order. And then I’ve got to install/pot the custom penetra…

Odd Heading-Hold / Depth-Hold behavior with Ardusub 4.0.1

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Odd Heading-Hold / Depth-Hold behavior with Ardusub 4.0.1

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Odd Heading-Hold / Depth-Hold behavior with Ardusub 4.0.1

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