Hi all, we have a need for our BlueROV2 (Navigator) with the Heavy Lift kit to roll/pitch beyond the Ardusub default limitations. We have set Angle_Max to 8000, the maximum stated in QGC parameters, but would ideally like to remove the limitations altogether. As set to 8000 with Gain 100%, we’re ony able to achieve +/-60 degrees in roll and pitch. All suggestions gratefully received.
Many thanks
Hi @RickMoss1, Have you tried Acro Mode? It’s been a while since I worked with Acro, but I think the BR2 will do what you want in that mode.
Thank you, we have not. I understood that depth hold/stability functionality was lost in acro mode, but I’ll give it a go and see what happens!
Further tests have now been undertaken; whilst Acro mode does enable full roll/pitch, it is as the same implies really; good for a bit of fun rather than working in odd orientations.
What I need to achieve is pitch/roll hold at any attitude in Stabilized and Alt Hold mode and any gain setting. Is this something that is know to have been successfully done before? I’m unsure if it’s a question of parameter settings, a new custom profile or a significant change to the software.
Many thanks
Hi @RickMoss1,
I believe this is the crux of the issue:
There is some additional relevant information in that thread around potential mitigation strategies, but this is not as straightforward as a standard parameter adjustment (although you can try forcing the angle max limit to be closer to 90 degrees and testing to see whether control is able to be maintained).
@williangalvani may have additional insights.
Hi @RickMoss1
If Ardusub limitations on roll and pitch are keeping you from getting some jobs done, you might want to check out the Blue ROV upgrade kit that we (Mission Robotics) sell.
Not only does this kit bring some substantial hardware improvements, such as a greatly superior camera and an integrated power switch, but our software operates at all attitudes, and in fact has specialized driving modes to help ease the piloting task when held at an unusual attitude. Our software brings other features to professional operators as well, such as simultaneous time-tagging and recording of all the video and the telemetry, to ease post-processing and report generation tasks. You can also mark events in real-time, which again speeds post-processing tasks.
Here is a YouTube video we took a couple of years ago, when we first had our all-attitude software running. We’ve tweaked it quite a bit since then to smooth things out. Note that at the end of the video the vehicle is actually stable upside down!
It’s not clear from your post what you’re trying to do with your Blue ROV, and whether this would be a good fit for you. We market mostly to integrators and to professional service operators. If you’re just doing this for fun, you will likely find our upgrade package overly expensive. If the limitations of Ardusub are preventing you from completing a job, you’ll probably find our package to be a great value. Anyway, check us out, and feel free to drop us a line if you’re interested!
Walt Holm
Mission Robotics
P.S. Here’s another cool video you should take a look at, this one is posted on our YouTube site. It’s a tour of the sunken SS Tahoe in Lake Tahoe, taken with natural light, while at a depth of 120m+ ! For this dive the cameras used a lens that is ~ one stop faster than our stock lens, giving a bit better light sensitivity but reduced depth-of-field. But it gives you an idea of what is possible with state-of-the-art cameras.
Thanks Walt, I have sent you a private message.
Rick