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Position hold. Waterlinked


(Alexis Gaziello) #1

Hello!
We have been testing the Waterlinked kit with our Bluerov2 and it actually works great for positioning. However we could not manage to make the position hold flight mode work. When the mode is activated the rov starts moving full power in a (what seems) random direction.
I know this modes are still in development but in demos found on youtube posted a few years ago it seemed to work. Any ideas on where should I start to find the problem? Should I install the unstable but more developed version? I am currently running ardusub 3.5.3.

Thanks!


(Jacob) #2

The position controller needs to be tuned. The default gains are not appropriate for the ROV. You can see the tuning options in the Vehicle Setup page if you enable the advanced settings in the Application Settings page.


(Alexis Gaziello) #3

OK. Thanks. We are talking about POS_XY_P?
I will tune it next time we use the rov. Any default value you recommend with the classic vectored frame?

Should I have read this info somewhere? I would recommend to implement it in the doc.

I could not find the advanced settings in the application settings page. I am runnning on linux qgc v3.3.1 appimage. I found the parameter in the parameter list of the vehicle setup page.


(Jacob) #4

There’s parameters for position, velocity and acceleration in the xy plane. POS_XY_P is one of them, yes.

We have not come up with good defaults yet.

We can make a set of proper defaults for the BlueROV2, this is the real solution. It is not in the doc because position hold, auto mode and guided are still in development anyway.

You should get QGC here if you are using ArduSub https://github.com/bluerobotics/qgroundcontrol/releases