RC channels input (Yaw + Surge) to individual thruster values

Blue Robotics Vehicles BlueROV2
1

Hello,
I have been using Blue ROV at my university project and I would like to know how does it work when you Send RC channel values (Yaw + Surge) to the Pixhawk. What exactly are the individual thruster values if ,for example, I need 50% for surge and 25% for yaw?

2

I would like to know the same thing.

3

Basically, can we perform two commands that are super-positioned on each other?

4

Yes, in MANUAL mode, ArduSub basically sums each factor defined in the FRAME table for each thruster. Check the code here.

5

It actually comes into play on line 464, correct?

Is there anywhere to learn more about what you are doing here, especially about the comment: “statements decouple forward/vertical hydrodynamic coupling on vectored ROVs. This is done by limiting the maximum output of the “rear” vectored thruster (where “rear” depends on direction of travel).” on line 455?

6

Hi,

Both linear and angular factors are calculated independently, and then added together in line 473.

I’m not sure about this section. Maybe one of the engineers can help.