I’m building an AUV using ArduSub, a Pixhawk, and the BlueROV2/Vectored frame. After powering up the flight controller, the thrusters idle at low speed. I’ve tried tweaking the RCx_TRIM parameter and rebooting, but the idling persists.
Also, when changing the AUV to “stabilize” mode, it goes haywire and starts spinning uncontrollably as soon as I arm it. I’ve double-checked the thruster directions, and they seem spot on.
Anyone got a clue why this is happening? Any help would be much appreciated!
Hi @saltfish -
Welcome to the forum!
Usually when a vehicle goes nuts when in Stabilize mode, the orientation of the autopilot hasn’t been set correctly. The Default orientation for ArduSub and the BlueROV2 is Roll90, because the Navigator is mounted rotated to the right 90 degrees. How is your flight controller oriented relative to the vehicle?
The other potential issue, assuming your thruster directions are correct, is a mismatch between the thruster location on the physical vehicle frame, and where ArduSub thinks it is located.
What ESCs are you using? If you’ve tweaked the appropriate RC_Trim parameter, that should adjust the PWM value being sent to the motor. Is it possible to get the motors to stop rotating by lightly adjusting the joystick? If so, you may just have been modifying the wrong channel trim parameter?
Best of luck!
Hi Tony,
Thank u for the reply! I confirmed that my thruster location is correct, but 3 of them have wrong direction. So I reversed them in qgc, and find out that the stabilize mode and alt-hold mode work properly.
Thank u a lot!
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