We have a BlueROV2 (8-thruster configuration). With QGroundControl.
Sensors are calibrated.
Joystick is calibrated.
Manual Mode works as expected.
In Stabilize or Depth-hold mode, roll pitch and altitude are stabilized as expected. We can still move laterally. However, we lose any ability to set a heading (yaw). Pushing the yaw stick results in no movement at all from the thrusters (when the ROV is level and not using any thrust to stabilize itself). In manual mode we can yaw as expected.
Any suggestions welcome