Underactuated finned sub frame advice

[EliotBR (Eliot)]

Hi @nmankame, welcome to the forum

@EliotBR

You’re not the first person who’s asked about control surfaces (from fins and the like), but it’s unfortunately not yet a feature of ArduSub. I don’t believe this is being actively worked on, but I think it’s a worthwhile idea so I’ve raised an issue about supporting advanced control methods (including control surfaces) - if updates do occur they should be findable there

@nmankame

Another solution I’m considering is maybe using ArduboAny ideas or help/advice on which may be an easier is much appreciated!

ArduRover (and its ArduBoat sub-type) are intended for vehicles travelling on a surface, so there’s no built in concept of vertical control, which would be problematic for a submarine vehicle.

If you wanted to use a non-sub firmware ArduPlane may be your best bet, since there’s built in control surface support and the forward/backward thruster is kind of like a plane propeller, but there may be nuances/complexities with getting the “propeller” to support bidirectional control (since in a plane scenario it’s generally not expected to need to run your propeller backwards).