We want the rov standing straight in standard conditions to be inclined at an angle of 20 degrees, looking up from the front. Can you suggest which resources should I review for this?
HM5maVy.png)
Hi @cebraildgr_00, welcome to the forum 
Assuming you have an ROV with pitch control, ArduSub’s depth hold and stabilize flight modes can be used to maintain a commanded pitch angle.
If you’re controlling your vehicle with a joystick then you’ll need to
- arm vehicle
- set desired flight mode
- use the roll-pitch-toggle joystick button functionality (to switch to roll/pitch control)
- use the joystick to set the desired pitch angle
- use the roll-pitch-toggle again (to return to normal forward/lateral control)
- control as normal
If you’re doing programmatic control then you’ll need to
- arm the vehicle
- set desired flight mode
- set attitude target
- control other motion components as normal
Hi Eliot,
Should we change that line?
roll_angle = pitch_angle = 0
Imagine that we change it to 20 and it works. How can we make it 0 while we are using ROV?
Thanks
You can change the roll and pitch angle targets if you want to, but they will only work if you’re in a flight mode that includes a control system and using a vehicle that supports them. They are both zero by default, unless explicitly changed by the operator (using a command, or using the joystick while roll-pitch mode is toggled on).
Is there any special version of Ardusub for that code? I tried with 3.5.4 but it did not work at all.
And I had to add an udpout to mavproxy for the connection.
should I change the version of ardusub?
I’m not certain - I’d recommend starting from the latest stable version (4.1.0).