I’m building a custom ROV using the Vectored ROV thruster configuration similar to BlueROV2 (see picture). I’m using Raspberry Pi4B running BlueOS 1.4.3 with HolyBro Pixhawk 4 flight controller running ArduPilot 4.5.7.
My question is what would be the proper way to set up this kind of vehicle in BlueOS? Should I use the default ROV configuration from the wizzard, since the thruster placement is similar to BlueROV2?
Is it a problem that the exact thruster placement and orienation does not match BlueROV2? Should additional paramters be adjusted in ArduPilot?
Also when I try to choose “Other Vehicle Setup“ in the wizzard it shows Failed to load scripts and Failed to load parameters. What could be the problem?
The standard BlueROV2 thruster configuration should work fine for this - you have the same symmetries, and the relative force generating capacities between different motion axes are not particularly important.
From your picture you’ll likely need to adjust AHRS_ORIENTATION to None, rather than using our default Roll90 configuration (which assumes the flight controller is effectively lying on its side).
Depending on how you’ve placed/connected your motors, you may also need to adjust the motor number assignments, although if possible it’s preferable to follow our numbering, just to minimise confusion with any troubleshooting or support you may need down the line.
Other relevant parameters depend on how you’ve set up your vehicle.
Our default scripts and parameters are only available for our standard vehicle setups. As-is our ROV setup only has default parameters - default scripts are only used for the BlueBoat.
With a custom vehicle we have no defaults available, so the setup wizard won’t be able to find any. I agree the current error likely message isn’t super clear on what’s wrong or how to fix it, so I’ll try to get that improved.
