We lately experience a strange behavior of the ROV while in stabilize or depth hold mode, the pitch/roll start to drift slowly which leads to the ROV swimming with increased pitch or/and roll, so that every few minutes we need to switch to manual mode and than back to stabilize mode to level it agai…

The ROV we have issues with was also switched to Navigator board, no issues previously with BlueOS on Pi2 and Pixhawk board.

Hi, This was introduced a while ago in 4.1 (which is the first version with Navigator support). The issue is that we disable the attitude controller angle stabilization when we have user inputs of yaw/roll/pitch, and run only the rate controller. when the user stops sending input, the angle contro…

@williangalvani many thanks for the explanation - that makes a lot more sense of what we experienced, especially when adjusting constantly for cross tide etc. Look forward to testing the fix

Hi Willian, just thought I’d check in on this topic again to see if any potential fixes are available.

Just mentioning that this is now being actively worked on, but has not yet been completed. There should hopefully be a new ArduSub beta available for testing with next week.

Hi all, I’ve tagged a Beta6 but we’re having some issues with Ardupilot’s build servers. meanwhile, here are builds for Navigator and Pixhawk1: Beta6 for Navigator Beta6 for Pixhawk Please let me know if this fixes the issue. Any and all feedback is welcome.

I managed to replicate the roll/pitch drift issue in this latest beta. I’m working on it.

@williangalvani I assume this means the issue remains, we really need a rapid solution for this please :pray:

Hi! Beta7 is now In Ardupilot’s server, which means it can be installed through Blueos/QGC. It reverts attitude control to the way it was in ArduSub 3.5. Please give it a try.

Hi Will, For some reason I can’t see it using BlueOS. Any chance you can put a link to the file? Thanks.

Pitch/Roll drift

Blue Robotics Software QGroundControl

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Pitch/Roll drift

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