I am using a custom configuration for frames in my rov. All the movements (forward, throttle, right-left, roll, pitch, yaw) are working fine. but when I use depth hold mode, rov rolls…and i am using 8 thrusters, 4 are used for upward an downward movements. when I use depth hold, 2 of4 are causing upward thrust and the other 2 are causing downward thrust… same thing is happening when stabilized mode is used…no improvement from calibrating gyroscope…
my link for the log file.