Hi
I have a submersible ROV. It’s actually more like a boat but built like the bluerov2 with a 30cm dome with a camera filming half underwater half above water level.
My issue is that it isn’t going straight forward but making some turns. Can you tell me which motors need to slow down when turning/yaw right? The left ones? The vehicle has 4 thrusters orientated like the original bluerov2
Hi @filmrov, welcome to the forum 
You haven’t provided much information about your vehicle here, so there are several possible approaches that may or may not be helpful depending on the circumstances.
I’d suggest reading through this thread as a starting point, and potentially other posts with the vehicle-design tag.
If that doesn’t help resolve your issue then please provide some more information about your vehicle, especially around
- the thruster placements, orientations, and relative strengths
- the mass and volume distributions (ideally with a photo and/or diagram), including the main drag surface(s), and
- how you’re trying to control the vehicle, in terms of both commands and expected motion behaviours and axes