Pixhawk Orange Cube Stabilise Mode Problem

Blue Robotics Vehicles BlueROV2
1

Hello,

I am building a system using Pixhawk Orange Cube with QGroundControl, but I am not getting the expected behaviour in Stabilised mode.

I have tested the system in detail and made the following checks:

Engine Configuration and Directions

  1. I verified the motor directions with the motor test in QGroundControl
  2. The motor sequence and rotation directions exactly match the motor configuration diagram of QGroundControl.

Pixhawk’s Direction and IMU Sensors

  1. The orientation of the Pixhawk is correctly mounted.
    2.Compass and Accelerometer data appear correctly on the HUD screen.
  2. When I tilt the vehicle to the right, the HUD tilts to the right, and when I tilt it forwards, the HUD tilts forwards (there is nothing wrong).
  3. AHRS_ORIENTATION value is also set according to the physical assembly.

Calibration Status

  1. I did the Compass and Accelerometer calibrations, the sensors are in the green area and working normally.

However, although everything above is correct, I cannot get the expected response in Stabilised mode.

The vehicle does not remain stable, cannot maintain its balance or makes incorrect corrections.
The motors do not seem to react properly to the tilt corrections, if the robot is tilted to the right, it starts to move quickly to the side of the slope.

Steps I have tried for solutions
1- I checked the Pre-Arm Check messages, no error is visible.
2- I checked the RC controller and joystick inputs, the inputs seem correct.
3- When I move the vehicle with manual control, IMU and Compass data change normally.
Despite this, I cannot understand why proper stabilisation cannot be achieved in Stabilised mode.
What could be the source of this problem? What additional tests should I do for a solution?

2

Hi @s.tunc -
I got your DM with the same content - no need to message, better to make a post so I’m replying here!
Can you share what version of ArduSub and BlueOS you’re using?
What frame type have you selected?
Typically a thruster is reversed, or the orientation fo the autopilot doesn’t match what it thinks it should be. If you share a screenshot of the artificial horizon with the vehicle rolled to the right, we should see the horizon line is higher on the right, and lower on the left in this orientation.

What happens when you put it in stabilize mode, in the water? Does it go crazy?