Removing roll/pitch limitations BlueROV Heavy

[EliotBR (Eliot)]

Hi @RickMoss1,

I believe this is the crux of the issue:

@williangalvani

Be careful around 90º of pitch because you may experience issues with gimbal lock when using euler angles.

@EliotBR

From what I understand, internally ArduSub uses quaternions instead of Euler angles, so the firmware itself can’t experience gimbal lock. The issues come about when commanding Euler angles in or reading them out, because the conversion reintroduces the gimbal lock issues.

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.