I built a robot using the vectored 6DOF thruster configuration for testing purposes. It performs well when moving forward, backward, and rotating, but there’s an issue with lateral movement. In manual mode, lateral movement causes unintended rotation and displacement. In depth-lock mode, it simultaneously moves forward and backward during lateral movement. I’ve checked the controller’s joystick and confirmed that no other directions are being accidentally triggered during lateral movement. Has anyone dealt with a similar issue before?"
Hi @awerds !
In Manual mode, unintended rotation and displacement is expected, as the vehicle is not doing anything to maintain orientation!
It’s hard to tell from your video but I would guess that some aspect of your frame configuration and thruster positioning is making the water moved by your 6dof frame type to not quite be as the thruster matrix expects. This may require a redesign of your ROV, or perhaps you could compile an adjusted ArduSub firmware with modified frame type.
Sharing a .BIN log file from the browser would give us more info to help troubleshoot.
I’m also not sure how something can
simultaneously moves forward and backward during lateral movement
You’re either going forward, or going backwards? How do you do both?