RC Override Control Not Working after change Ardusub Version

[EliotBR (Eliot)]

Hi @Brandonyxf,

@Brandonyxf

I can read the message “signal sent” from the terminal. however, the propeller does not move at all. Since I have removed the heartbeat check, it should keep moving.

Removing the heartbeat check allows the latest controls to continue running, but you’ll still need to arm the ROV before it will allow any of the thrusters to move in the first place.

@Brandonyxf

1. If I tried set_rc_channel_pwm(9, 1600) , the light shows up, which means the light works properly.

It’s good that a connection is being established correctly, and that the light is working as expected.

@Brandonyxf

2. If I armed the ROV(uncommented the arm code in above code), some propellers (not all of them, I believe they should be 3, 4, 6) will move at a max speed, which caused the ROV drive crazily in the water.

Good that arming/disarming seems to work, although it’s unclear why the thrusters are moving at max speed, or why it would be those ones in particular. Which ROV frame are you using? Your code is only set up to set some roll, so I’d expect it should only try to use the motors with roll components. It may be worth explicitly setting the flight mode to 'MANUAL' in your code, to ensure it’s only doing the controls you’re commanding.

@Brandonyxf

3. I could be able to control the ROV propeller properly before, with the same code above. At that time, my Ardusub was 4.2.0(development version). Now I downgraded it to 4.0.3 (stable version) and had this problem. My Companion is 0.0.26, and I did not change it.

If it weren’t for this post, which you solved by bringing your ArduSub version back down to 4.0.3 from 4.2.0 I’d suggest going back to 4.2.0. Very odd that the thrusters worked in 4.2.0 but the camera mount didn’t, whereas now the camera mount and lights work in 4.0.3 but the thrusters don’t. I’m not particularly sure what to make of that, so I’ve brought it up internally with our software team, and hopefully one of them has more of an idea about what could be going on.