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ROV connect to QGroundContorol Failure, Unable to control ROV or update firmware

We bought a brand new BlueROV2 recently.

Initially, we were able to have both visual and control on BlueROV2. However, we had connection issues where the ROV would disconnect from QGroundControl, which required a power cycle to reestablish connection. To solve this, we tried to update both companion and ArduSub version. We updated Companion to v0.0.26 and ArduSub to v4.0.2, and everything stopped working. When we power on, only the first sequence of beeps (fast beeps) is heard. We have camera visual on QGroundControl, but QGroundControl have no connection to the ROV.

When we try to update Pixhawk on Companion, it failed due to USB connectivity issue.

We were able to update Pixhawk by directly by connecting QGroundControl on PC to Pixhawk (via USB). We used the “Ardupilot ChibiOS Sub PixHawk 4.0.1” software to update Pixhawk. But even after this update, we are still not able to hear the second beep sequence on boot, and QGroundControl still can’t connect to BlueROV2.

  1. What are the stable versions of Companion and ArduSub you recommend.
  2. Is this issue with Pixhawk? Could we get a replacement Pixhawk if that’s the case?
  3. What are some alternative ways to update both Companion software and ArduSub? Is there instruction/video?

The instructions to install Companion directly onto a MicroSD card for the Raspberry Pi 3b are here

Can you share an image of the page at ?

Hi thanks for the suggestion. When we downloaded the Companion image, the file name is ardusub-raspbian.img. As I understand Ardusub is the software for Pixhawk. So is the link correct? Also, which version is the Companion software? We basically want to reset the Raspberry Pi and PixHawk back to the factory setting so we can boot up the ROV again.

I unzipped the downloaded image, and it seem to be Companion v0.0.26. We already have it on our Raspberry Pi, but the ROV is somehow not booting. Is there another earlier stable version we can use?

What information do you need from ?
I tried to upload images but failed.
On “Software Status and Update” page, under “Active Services”, I have:
Under “Detected Devices”:
Video Device: H264_USB_Camera
Audio: Devices: H264_USB_Camera
Serial Devices: Pixhawk1

Previous Stable Companion Releases

Previous stable Companion images can be downloaded at https://s3.amazonaws.com/downloads.bluerobotics.com/Pi/<version number>/<version number>.img.zip
eg: https://s3.amazonaws.com/downloads.bluerobotics.com/Pi/0.0.22/0.0.22.img.zip

The Detected Devices looks normal.
The Active Services looks normal except I’m not sure why there are three mavproxy listed.

I’d try going through the Software Setup on a different computer and see if you can connect.

Thanks! Which Companion and PixHawk versions would you recommend? Besides the current one (0.0.26 + 4.0.2). I’m a bit nervous about flashing my Companion (RaspPi) software with Etcher, is there a reliable way to rollback if somehow I “brick” my ROV?

If you’re worried, you could flash Companion to a different MicroSD card.
Previous versions are:
Ardusub v3.5.4
Companion 0.0.25


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This sounds like a failed Pixhawk (ArduSub) update or something. The three initial beeps from each ESC confirm that the three phases of the connected motor are present and connected. The following two longer ones (which you’re not hearing) happen when the ESC is provided with a valid input signal (first beep - valid controller detected), and then a valid ‘stop’ signal (second beep - ESC armed and ready to go).

By default the Pixhawk should be outputting a ‘stop’ signal to all 6 ESCs as soon as it turns on (or all 8 if using the Heavy configuration and corresponding frame in the firmware), so if it’s not doing that then there’s either an issue with your firmware, or an issue with your Pixhawk or ESCs. Given this came directly after an update and is affecting all your ESCs it’s unlikely to be an ESC issue, and my best guess is that the firmware flashing wasn’t successful.

There could be multiple causes for this, but it is at least consistent with a malfunctioning/incorrectly set up Pixhawk - the video stream is handled entirely by the companion computer, so is independent of the Pixhawk, whereas the ‘Vehicle connection’ is to do with successful mavlink communication with the autopilot, which requires a working Pixhawk setup and connection.

Do you have any more details on the ‘USB connectivity issue’? It’s possible you’ve got a faulty/damaged USB cable between the Pixhawk and companion computer (Raspberry Pi), but also possible that the Pixhawk is the issue. Also, do you know if the update via QGroundControl was successful?

  1. The stable versions we recommend are the latest stable versions available through the companion web interface update page, which at the moment are companion 0.0.26 and ArduSub 4.0.3.
  2. It could be. If you can try using a different USB cable that would be helpful, but if that doesn’t work/help then I’d suggest you contact support@bluerobotics.com, and link them to this thread to discuss a refund/replacement :slight_smile:
  3. There are instructions and links for updating the relevant software on our downloads page, but we expect and encourage most non-developer companion and ArduSub updates to be done via the companion web interface System page
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