we are using the 4.1.1 ardusub firmware & vectored 6dof frame and while in manual the thruster pwms are fine but in stabilize mode, the z axis thrusters (5678) are pushing water in the same direction, when pitched or rolled when it should push in opposite directions to counteract the pitch and roll, we’ve tested all the other components and the sensor outputs from the pixhawk and it was all fine as we can see but we cant figure out why the thruster output pwms are coming wrong
Hi @ankanmondal -
What is your AHRS_Orientation parameter set to, vs. how the Pixhawk is mounted? Is this in a BlueROV2? Have you loaded the default parameters for your frame type? Is there a reason you’re not on the currently recommended firmware version, 4.5.3? It’s easy to update this, even with a Pixhawk, via the Autopilot Firmware menu in BlueOS….