Is there any way to turn off the thrusters and ESC without turning off the main computer?
Hi Esteban, Are you referring to the BlueROV2, or your own project? The ESCs draw a few watts when they are not running the motors. If you wanted to switch power to them you would need a solid state relay or mosfet capable of handling the current when the motors are running.
Is there a schematic or picture and code to add the solid state relay?