Turning BlueROV into Spiderman

[EliotBR (Eliot)]

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

Calibrate via preset parameters

Hi! We are currently trying to accomplish a task where we use our sub in normal, flying mode, in one setting, but then in another mode, we dock it to a ship hull and drive around on the hull. I.e. 90 degrees on the flying mode. Due to the gimbal lock, one of these modes will have problems steering using roll, yaw and pitch values. Is there a way to auto calibrate the vehicle between these modes? Can I store the calibration values and then apply them to our vehicle when needed?