I am trying to control the BlueROV2 using position targeting rather than RC override or manual inputs. I used SET_POSITION_TARGET_INT to implement depth hold at a target depth like the example on the Ardusub website Pymavlink · GitBook and it worked perfectly. master.mav.set_position_target_global…

Hi @autery , welcome to the forum :slight_smile: [image] autery: I tried to use the same message above but with non-zero vx and vy to make the ROV move laterally. I tried it without changing any of the ignore lines. I tried commenting out the lines that ignore Vx, Vy, and Vz. I tried doing that …

I also tried using SET_POSITION_TARGET_LOCAL_NED where I put in non-zero x and y parameters instead of vx and vy, and there was still no lateral motion.

We did a bit of testing and digging today, and found that using SET_POSITION_TARGET_* requires using Guided mode , which in its current implementation requires having both a position estimate and a position target. When setting just velocity targets the initialisation process includes setting the pos…

Thank you for doing all that. Position targeting is really what I’m going for here. I only tried using velocity targets because position targeting wasn’t working

Similar reasoning applies for position control, but it’s even more likely to work poorly than velocity control. In general, positioning requires a positioning-focused sensor. [image] ArduSub Research & Development: DVL This thread is a good starting point for understanding the various available …

So do you think SET_POSITION_TARGET_* is not doing anything because of the way it was implemented in Ardusub (as opposed to Arducopter) where basically only the depth control portion is used, or is it not doing anything because integrating the raw IMU acceleration data is so noisy? I would think if …

[image] autery: So do you think SET_POSITION_TARGET_* is not doing anything because of the way it was implemented in Ardusub (as opposed to Arducopter) where basically only the depth control portion is used, or is it not doing anything because integrating the raw IMU acceleration data is so nois…

Thank you very much Eliot. This was a very good explanation. I appreciate you taking all this time to explain.

Just a quick note on top of Eliot’s precious comments. You can do positioning with only IMUs generally but the IMUs you need to be looking for are starting at least 20 times of a Pixhawk in price and much bigger in size. So in theory possible but with the current ArduSub ecosystem not. Resources ar…

Indeed, valid point :slight_smile: I did touch on that briefly with my comment that [image] Eliot: if … someone tries some externally-connected inertial sensors, … performance could be better … but I agree that it’s worth clarifying it’s not impossible for IMU measurements to provide usabl…

Pymavlink SET_POSITION_TARGET with velocity

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Pymavlink SET_POSITION_TARGET with velocity

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