# RC\_CHANNEL\_OVERRIDE

**URL:** <https://discuss.bluerobotics.com/t/rc-channel-override/7035>\
**Category:** Blue Robotics Software\
**Tags:** ardusub, pymavlink\
**Created:** [March 13, 2020, 12:09am UTC](https://discuss.bluerobotics.com/t/rc-channel-override/7035 "2020-03-13T00:09:02Z")\
**Posts on this page:** 4\
**Page:** 1

<div class="post-metadata">

**Author:** ![naval\_architect](https://avatars.discourse-cdn.com/v4/letter/n/47e85d/32.png) [@naval\_architect](https://discuss.bluerobotics.com/u/naval_architect)\
**Post date:** [March 13, 2020, 12:09am UTC](https://discuss.bluerobotics.com/t/rc-channel-override/7035/1 "2020-03-13T00:09:02Z")

</div>

Hi,

How does the PWM value given to RC\_channel\_override message translate to individual motor PWM?  
For example, if the forward channel is assigned PWM of 1900, in theory, the front thrusters should each have a PWM of 1900 and rear thrusters should each have a PWM of 1100. Is this right in Vectored BlueROV2 configuration?

---

<div class="post-metadata">

**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\
**Post date:** [March 13, 2020, 4:40pm UTC](https://discuss.bluerobotics.com/t/rc-channel-override/7035/2 "2020-03-13T16:40:06Z")

</div>

> [@naval\_architect](#):
>
> How does the PWM value given to RC\_channel\_override message translate to individual motor PWM?

Each channel corresponds to a degree of freedom:

1. pitch
2. roll
3. vertical
4. yaw
5. forward
6. lateral
7. camera pan speed
8. camera tilt speed
9. lights1
10. lights2

These values go through the [motors matrix](https://www.ardusub.com/developers/developers.html#making-a-custom-configuration) where they are mixed to get the expected output.

Setting the forward channel on a BlueRov2 activates all the horizontal thrusters (1,2,3,4).

> [@naval\_architect](#):
>
> if the forward channel is assigned PWM of 1900, in theory, the front thrusters should each have a PWM of 1900 and rear thrusters should each have a PWM of 1100. Is this right in Vectored BlueROV2 configuration

Yes, this is correct.

---

<div class="post-metadata">

**Author:** ![naval\_architect](https://avatars.discourse-cdn.com/v4/letter/n/47e85d/32.png) [@naval\_architect](https://discuss.bluerobotics.com/u/naval_architect)\
**Post date:** [March 13, 2020, 4:57pm UTC](https://discuss.bluerobotics.com/t/rc-channel-override/7035/3 "2020-03-13T16:57:31Z")

</div>

Yes, I knew about Motor Matrix before, but was thinking about PWM end of the motors. Thank you for confirming this.  
I am making a table about how each channel PWM value corresponds to obtained thrust using the four motors.

---

<div class="post-metadata">

**Author:** ![patrickelectric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/patrickelectric/32/2162_2.png) [@patrickelectric](https://discuss.bluerobotics.com/u/patrickelectric)\
**Post date:** [March 16, 2020, 9:00pm UTC](https://discuss.bluerobotics.com/t/rc-channel-override/7035/4 "2020-03-16T21:00:04Z")

</div>

This topic was automatically closed after 3 days. New replies are no longer allowed.