Hi all,
I’m designing PID controllers of my own that drive the BlueROV2. Is there a transfer function, like \frac{K(s+8)}{(s+3)(s+6)(s+10)} available that I can use to represent the dynamics of the thrusters? It’s okay if there isn’t. I’ll just do a trial and error procedure with finding the best gains.
Thank you!
-Cameron
We don’t have one documented for a single thruster, because ArduSub doesn’t account for thruster properties in its vehicle control, just their direction components. The control space is over the full vehicle angles (ATC_ANG_* params) and rates (ATC_RAT_* params) - there’s some more detail in the ArduCopter Attitude Control docs.
If it’s relevant, I did a couple of forum searches and came up with the following posts, which may be useful:
By the way, I edited your example transfer function to be rendered as maths. There are instructions for how to do that in the Formatting a Post/Comment section of the “How to Use the Blue Robotics Forum” pinned post 
Thank you Eliot! Those posts are very useful in helping me with my thesis and designing my PID controller. I made the mistake of saying PID controllers because I’m only designing one.