Vectored thruster orientation

[Christopher (Christoher Lawrence M. Yu)]

hi im chris. i take over the the project and we are trying with a different approach using a linux computer. do you have experienced this issue before?

[Christopher (Christoher Lawrence M. Yu)]

that is the result when i try to compile.

[EliotBR (Eliot)]

Hi @Christopher, welcome to the forum

I have not experienced that issue before, but from your traceback:

• The error you’re getting is that collections has no MutableSequence, which is a class that was removed in Python 3.3, so is presumably trying to run Python 2.7 code with a more recent Python 3 version
• It seems a bit odd that you’re running from inside your Downloads folder - did you get the code via git, or did you use some other approach?

I expect the issue here is some missing or incorrect setup. If it’s helpful the Linux instructions are provided as direct steps here

If that doesn’t work, please specify which Linux version you’re using, and any error messages you receive in the code fetching / compilation processes.

[Christopher (Christoher Lawrence M. Yu)]

@EliotBR

• It seems a bit odd that you’re running from inside your Downloads folder - did you get the code via git, or did you use some other approach?

I expect the issue here is some missing or incorrect setup. If it’s helpful the Linux instructions are provided as direct steps here

i tried to use the ardusub-stable file you provided in this discussion. anyways i tried the instructions you provide. is this fine? im on the part where the code is Tools/environment_install/install-prereqs-ubuntu.sh -y

[Christopher (Christoher Lawrence M. Yu)]

btw, im at this part of the instruction.

[Christopher (Christoher Lawrence M. Yu)]

@EliotBR

If that doesn’t work, please specify which Linux version you’re using, and any error messages you receive in the code fetching / compilation processes.

im using ubuntu 22.04 LTS, Linux Kernel Version Number is 5.15.0-27-generic.
i tried to redo the process by cloning the main repository and not by fork. this is the error message.

[EliotBR (Eliot)]

@Christopher

im using ubuntu 22.04 LTS, Linux Kernel Version Number is 5.15.0-27-generic.

Even the master branch doesn’t seem fully updated for 22.04 yet, and the updates that have occurred are all from March or later, which is more recently than the ArduSub stable branch has been updated. I’d recommend using 20.04 if possible, and if that’s not possible as your main OS then you can perhaps try in a virtual machine instead (using e.g. VirtualBox).

You can of course wait until 22.04 is fully supported for ArduSub, but there isn’t a fixed date where that will happen, and I expect we’ll try to push out ArduSub 4.1 as the new stable first.

[Christopher (Christoher Lawrence M. Yu)]

hi eliot, i tried the version 18.04. im still having an error when i do the submodule update and the error is the same in version 22.04. but i will try the version 20.04, hopefully its the solution for the error.

[Christopher (Christoher Lawrence M. Yu)]

Good day im still having the same error when updating the submodule. i attached the guide im using and the entire output. What do you think the problem in here? i tried all the linux version 18.04, 20.04 and 22.04. All of them has the same error. Thank you!

[EliotBR (Eliot)]

I’ve read through this post more fully again, and realised you’re running into the same issue that was discussed further up. That issue hasn’t yet been fixed in ArduSub-stable, so the workaround I originally suggested is likely the best course of action for now.

I spoke with our software team and @williangalvani is working on updating submodules to solve the issue properly for ArduSub >= 4.1, but completing that may take some more time.

I’ve just tried a fresh install of a fresh ardupilot fork on Ubuntu 20.04, and it worked without issues when using that workaround. Combining for a full set of instructions:

git clone https://github.com/your-github-userid/ardupilot
cd ardupilot
# fetch the latest tags
git fetch --tags
# checkout the latest stable tag, and branch off it in your own 'new-branch'
git checkout ArduSub-stable -b new-branch
# manually fix deprecated authentication format
sed -i -e s/git:/https:/ .gitmodules
# initial submodule update and initialisation
git submodule update --init
# fix the same issue within a submodule
sed -i -e s/git:/https:/ modules/mavlink/.gitmodules
# update submodules recursively and continue as normal
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

Note that if you try to initialise submodules before the links have been changed properly then the incorrect link is stored internally, so it’s much easier to start with a fresh ardupilot clone and work through the instructions from the top.

[Christopher (Christoher Lawrence M. Yu)]

hi thanks. it works!
If i will do a modification again in AP_Motors6DOF.cpp, should i need to repeat all this?

@EliotBR

git clone https://github.com/your-github-userid/ardupilot
cd ardupilot
# fetch the latest tags
git fetch --tags
# checkout the latest stable tag, and branch off it in your own 'new-branch'
git checkout ArduSub-stable -b new-branch
# manually fix deprecated authentication format
sed -i -e s/git:/https:/ .gitmodules
# initial submodule update and initialisation
git submodule update --init
# fix the same issue within a submodule
sed -i -e s/git:/https:/ modules/mavlink/.gitmodules
# update submodules recursively and continue as normal
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

or only in the configure(./waf configure --board Pixhawk1) then modify in AP_Motors6DOF.cpp then compile(./waf sub)?

@EliotBR

# configure waf for your board (e.g. Pixhawk1)
./waf configure --board Pixhawk1

[EliotBR (Eliot)]

@Christopher

If i will do a modification again in AP_Motors6DOF.cpp, should i need to repeat all this?

The original “detailed instructions” post I linked you to covers this (and more) in some depth

@EliotBR

• AP_Motors6DOF.cpp should be modified in your own branch, in the local repository on your computer
• it’s recommended to create multiple branches if you want to keep track of and try multiple configurations, so that you can easily switch between them (with checkout )
• you can commit a change if you want to save it for later
• you can push commits to your own remote (assuming you cloned from your remote, and not the ArduPilot one) if you want to share them with others (including yourself on another computer)
• you do the setup of cloning, checkout, installing prerequisites, and configuring waf once per computer
  • the checkout can be of your own branch if you’ve pushed it to your remote, instead of making a new branch and re-doing your changes every time
• you compile ArduSub on your computer, using ./waf sub in your local repository (with your changes in it)
  • this is the only step that needs to happen again when you’ve made changes on the same computer
  • you may need to configure waf again if you change board types at some point

[Christopher (Christoher Lawrence M. Yu)]

I tried it already and it worked thank you for your help. We can proceed now on testing our ROV.

[etienne (Etienne Demers)]

Dear BR2 forum community.

We were able to successfully test our ALON-8VEC with the new thruster configuration.

Thanks to @EliotBR 's patiences and @Christopher 's multiple trial and errors, we finally got it right.

As promised when we first started, here are our final results.

QGC version:

Ardusub version:

Companion Version:

Thruster table:

Thruster direction table:

Thruster direction depends on prop used (CW/CCW)

Note that the ROV needs to be on stabilize before putting it on auto-depth, else it goes down hard. (Same issue as the regular BR2)

Since this is one giant hassle, you may download our ardusub file (ardusub 8VEC.apj) from the download section of our website: http://www.deltarov.com/new/

Please note that this is provided free of charge, without guaranty or support.

Cheers,
Etienne

[etienne (Etienne Demers)]

Hello @EliotBR,

I hope you are well. We have migrated to BlueOS and Navigator board and cannot upload our 8VEC file anymore.

We get this error:

How do we resolve this?

Thanks,
Etienne

[EliotBR (Eliot)]

Hi @etienne,

Pixhawk and Navigator run on different processors, so cannot use the same firmware build (they don’t have the same pins or hardware interfaces). You’ll need to re-build the firmware for Navigator, which should compile a .elf file that the Navigator can run on

[etienne (Etienne Demers)]

Thanks we will give it a go

[etienne (Etienne Demers)]

@EliotBR So the only difference in the process is this?

building ArduSub for Navigator and was told it should be the same but using ./waf configure --board navigator instead of ./waf configure --board pixhawk .

I think I compiled it properly

This might be a stupid question but how can I verify that what I compiled was the latest 4.1 version?

Sorry, I am not super familiar with Github/Linux/Python.

Cheers,
E.

[etienne (Etienne Demers)]

Hi @EliotBR ,

Unfortunately it didn’t work. I’m able to upload the elf file but got no comms. (The ROV works with normal firmware) Can you send me the ardusub 4.1 files like you did last time for the older version? My attempt to load the toolchain have been unsuccessful…

Cheers,
E.

[williangalvani]

Hi.

Steps are basically

git clone git@github.com:ArduPilot/ardupilot.git
cd ardupilot
git checkout Sub-4.1
git submodule update --init --recursive
./waf configure --board Navigator --toolchain /opt/gcc-arm-9.2-2019.12-x86_64-arm-none-linux-gnueabihf/bin/arm-none-linux-gnueabihf

output file ends up in build/navigator/bin/ardusub