# Understanding ArduSub GitHub - Custom Frame

**URL:** <https://discuss.bluerobotics.com/t/understanding-ardusub-github-custom-frame/11597>\
**Category:** ArduSub\
**Tags:** guide, ardusub, vehicle-design\
**Created:** [February 22, 2022, 4:21pm UTC](https://discuss.bluerobotics.com/t/understanding-ardusub-github-custom-frame/11597 "2022-02-22T16:21:43Z")\
**Posts on this page:** 1\
**Showing post:** 2

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**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\
**Post date:** [February 23, 2022, 12:45am UTC](https://discuss.bluerobotics.com/t/understanding-ardusub-github-custom-frame/11597/2 "2022-02-23T00:45:18Z")

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Hi @jgiessel, welcome to the forum 🙂

Seems like there was an oversight on our part when we updated the install script for the `Sub-4.0` tag we forgot to update the `ArduSub-stable` tag to point to the new `Sub-4.0` position.

Until we fix that tag, you should be able to instead do

```bash
git checkout Sub-4.0
# create your own branch off of Sub-4.0, called 'new-branch'
git branch new-branch
# move onto your branch
git checkout new-branch

```

Putting that into the full set of Ubuntu instructions, that’s:

```bash
git clone https://github.com/your-github-userid/ardupilot
cd ardupilot
git checkout Sub-4.0
# create your own branch off of Sub-4.0, called 'new-branch'
git branch new-branch
# move onto your branch
git checkout new-branch
# update submodules
git submodule update --init --recursive
# install prerequisites
Tools/environment_install/install-prereqs-ubuntu.sh -y
# reload the path
. ~/.profile
# configure waf for your board (e.g. Pixhawk1)
./waf configure --board Pixhawk1

```

From there you can make your changes (e.g. create your custom frame), and then compile with

```bash
./waf sub

```

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_[View the full topic](https://discuss.bluerobotics.com/t/understanding-ardusub-github-custom-frame/11597)._