Thruster configuration in bluerov1

[EliotBR (Eliot)]

Hi @kushion,

@kushion

My first thought for thruster placement was to have thruster 5 be CW and 3 and 4 be CCW. It has twice the contribution for the throttle and pitch so it made sense to me to cancel out the most unintended yaw. I’m just wondering why the bluerov1 design does it so that 4 and 5 are the same and 3 is opposite? am I missing something here?

The BlueROV1 design is from well before my time at BR, but your idea sounds pretty convincing to me

I’ll ask internally in case there’s something we’re both missing.

@kushion

why 0.45 is used for thrusters 3 and 4 in throttle rather than 0.5?

There’s some relevant discussion here

@kushion

If I were to create a custom thruster configuration in ardusub with just the 5 thrusters and run it with mavros, would it just ignore any strafe commands? OR is it better to use the blulreov1 configuration table with no thruster 6 attached?

Both approaches are functionally equivalent. The BlueROV1 approach means you don’t need to build a custom firmware, but if you want to set up custom / more optimised thruster contribution factors for your vehicle then there’s no reason for you to define an extra motor that doesn’t actually get used (unless you think you might use it at some point).