Hi everyone, If you read the title and thought “but why??” - let me give you the answer: for science! However, it doesn’t quite work yet and I would appreciate if someone could point me into the right direction. In a nutshell, we are trying to modify a BlueROV2 Heavy so that it can drive around o…

Hello everyone, Today, I have finally found a solution to this: I have overwritten Acrobatics Mode with my own code (because we weren’t using it anyways and it seemed closest to what we were trying to achieve). This is now my version of Sub::acro_run() which is located in control_acro.cpp. // acro…

Hi @monsterbacke , That’s a great application and a really hope to help with that! First, I need to know which ArduPilot version are you using, some features may be necessary in the newer versions to accomplish what you want. [image] monsterbacke: Approach 1: set target pitch, then engage thru…

Hi @monsterbacke , That sounds fun! I would try using the attitude control example we have in pymavlink to point the ROV up. Be careful around 90º of pitch because you may experience issues with gimbal lock when using euler angles. I would do it like this: Drive the rov to the structure you want…

It may also be worth following the progress of this post, which seems to be trying to do something similar :slight_smile: [image] Calibrate via preset parameters ArduSub Hi! We are currently trying to accomplish a task where we use our sub in normal, flying mode, in one s…

Thank you everyone for your suggestions! :slight_smile: [image] patrickelectric: First, I need to know which ArduPilot version are you using, some features may be necessary in the newer versions to accomplish what you want. Once a fortnight or so I am pulling the latest ArduSub-stable from G…

[image] EliotBR: It may also be worth following the progress of this post, which seems to be trying to do something similar :slight_smile: Ah I think I understood this now. So in order to avoid gimbal lock, I could change the orientation of the board + IMU inside the ROV? Or simply set the AH…

[image] monsterbacke: in order to avoid gimbal lock, I could change the orientation of the board + IMU inside the ROV? Or simply set the AHRS_ORIENTATION parameter to Roll90Pitch315? I believe either of those approaches should work. From what I understand, internally ArduSub uses quaternions…

Hello everyone, So today I got some time with the robot in our water basin and I was able to test a few things. I focused on using only ArduSub for now. Test 1: set throttle to stick to the wall case JSButton::button_function_t::k_custom_1: if (held) { motors.set_throttle(1.0F); …

Hi Elliot, quick question, we want to modify the ardusub code based on the post you kindly attach, could you give us a brief intro on how to do it? For what i know, the ardusub code is on the Pixhawk, but i see a folder on the Raspberry containing a companion code. Only modifying it on the Pixhawk w…

Hi @SaferHarbors , Please see our ArduSub developer documentation :slight_smile: [image] Stan: For what i know, the ardusub code is on the Pixhawk, but i see a folder on the Raspberry containing a companion code. Only modifying it on the Pixhawk will give us the changes we want? The Raspberr…

Hello Anne, I know this was a few years back at this point, but did you by chance record any video of this flight mode in action? Or could you by chance share your built binary so I could try it out? Thanks in advance!

Turning BlueROV into Spiderman

Blue Robotics Software

EliotBR (Eliot) August 5, 2021, 2:58am 4

It may also be worth following the progress of this post, which seems to be trying to do something similar

Topic		Replies	Views
Controlling ROV to 90 degrees not working Blue Robotics Vehicles	33	3480	September 5, 2023
Cannot Control Blue ROV's thrusters with pymavlink or QGroundControl Blue Robotics Software pymavlink	4	1064	December 20, 2022
Simulating Manual Control using Mavros Blue Robotics Software sitl , simulate	75	23177	April 21, 2023
Downunder ROV build DIY ROVs	82	9039	May 24, 2020
[Autonomous BlueROV2] MavLink/Ardusub help Blue Robotics Software positioning , sitl , simulate	69	16802	July 22, 2021

Community

BR Website

Software Docs

Autopilot Docs

BR and Beyond

Software

Turning BlueROV into Spiderman

Community

BR Website

Software Docs

Autopilot Docs

BR and Beyond

Software

Turning BlueROV into Spiderman

Related topics