Trim doesn't work

I converted my BlueROV2 Heavy(R4) to dual batteries.
After that, it only sinks to about 15 degrees in front.
Have I changed a setting somewhere?

Hi @Itaru ,

What version of ardusub are you running?

Hi @williangalvani ,
I don’t know version of ardusub as we are taking it out now.
We bought BlueROV2 in April of this year and haven’t upgraded the version.
Is there a setting to make trim stronger?

Hi @Itaru ,

Can you try ArduSub 4.1.2?
You can do it from the “Autopilot Firmware” page in BlueOS

I am using 4.1.0(beta) because 4.1.1 was rotating.
I am afraid that the version up to 4.1.2 will make it unstable.

Hi @Itaru -
Progress is inevitable! The current stable version is now 4.5.0, which fixes many things and introduces an entirely new core. I would suggest trying this out! Calibrating the compass and other sensors from within BlueOS is supported - calibrating the gyroscope in particular may help your rotation issue. Make sure you’re running BlueOS 1.3.1 or newer Beta versions!

You can also display the trim angle the vehicle is trying to achieve by using Cockpit and the information in this thread- if you set the pitch angle higher than 15 degrees and the vehicle cannot achieve it, please share your .BIN autopilot log for this attempt!