# Using ROV without Pixhawk

**URL:** <https://discuss.bluerobotics.com/t/using-rov-without-pixhawk/11732>\
**Category:** DIY ROVs\
**Created:** [March 12, 2022, 4:49pm UTC](https://discuss.bluerobotics.com/t/using-rov-without-pixhawk/11732 "2022-03-12T16:49:13Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![rovedo](https://avatars.discourse-cdn.com/v4/letter/r/e9a140/32.png) [@rovedo](https://discuss.bluerobotics.com/u/rovedo)\
**Post date:** [March 12, 2022, 4:49pm UTC](https://discuss.bluerobotics.com/t/using-rov-without-pixhawk/11732/1 "2022-03-12T16:49:13Z")

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Hi,

Using BlueRobotics parts (sensors, thrusters) I’m trying to build a ROV. The thing is, a pixhawk isn’t that cheap and I’m using an arduino to receive sensor data and a rpi connected to a PC. I’m wondering what software I can use to control the ROV and check the info getting send from the sensors.

Thanks

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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:** [March 14, 2022, 2:13am UTC](https://discuss.bluerobotics.com/t/using-rov-without-pixhawk/11732/2 "2022-03-14T02:13:45Z")

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Hi @rovedo, welcome to the forum 🙂

For the base setup:

- we have Arduino libraries available for our sensors
- you could use servo control to control the thrusters (although note cross-compatibility issues like [this one](https://discuss.bluerobotics.com/t/using-ping1d-and-servo-with-arduino-nano-every/11715/2))
- you could use serial for communication between the Arduino and the Raspberry Pi

> [@rovedo](#):
>
> I’m wondering what software I can use to control the ROV

I’m not aware of pre-made ROV control software outside of ArduSub, but I also haven’t looked. You may need to write something yourself (basic control could be very simple, but more advanced control can be quite challenging), or you may be able to find something online.

Note that pre-made flight controller boards (like Pixhawks) also include multiple sensors internally. Of particular relevance is an IMU (inertial measurement unit - including one or more of each of an accelerometer, gyroscope, and magnetometer), which helps with navigation and control by indicating vehicle orientation, and estimates of the velocity.