Vibration in Stabilize mode

[LarsMR (Lars Ranheim)]

I have switched out the pixhawk and raspberry-pi with a Navigator and now the sub is shaking in Stabilize and depth hold mode. I have tried to tune the ROV in PID-tuning but then I get other issues, one issue is that if you turn the ROV 180 degres it doesnt end up level. Also if the ROV is tilted, it doesnt go back to the same angle if you drive it around.

[jwalser (Jacob)]

Hi @LarsMR, sorry to hear that you are having trouble with it.

• Is this a BlueROV2? Can you share a picture of your build and electronics tray?
• Have you performed a calibration of the gyro, accelerometer and magnetometer?
• Can you share a short video of this behavior paired with the log data captured during the video?

[krisaue (Kristian)]

Hi, I work with Lars, and I am the author of this post regarding the same vehicle:

Weird behavior after change to Navigator from pixhawk1

Hi, My team has recently changed from a pixhawk1 to a Navigator setup, and with the change some issues occured. Ardusub firmvare: 4.1.0 QgroundControl: 4.2.4 BlueOS: 1.0.1 There are three main issues we are facing, and I am not sure if they are all separate issues or if they are correlated. 1. Ocsillations - They vehicle started oscillating in the roll, and slightly in yaw. We managed to reduce/remove the ocsillation by tuning the PID controller for roll rate and yaw rate. 2. Yaw with an …

To answer your questions:

Is this a BlueROV2? Can you share a picture of your build and electronics tray?

No, Its a custom vehicle with the heavy frame configuration, and running on Ardusub. We have used it for several years with the pixhawk1 without these complications. The only change made was switching the pixhawk1 for a Navigator. The Navigator is fastened securely within our housing, and mounting orientation is taken into account.

Have you performed a calibration of the gyro, accelerometer and magnetometer?

Yes, however I am noticing that the Accelerometer does not show up under the “summary” in QGC.

There is also no readings accelerometer nor gyro readings on the SCALED_IMU2 mavlink message, but there is gyro on RAW_IMU. The attitude messages seems fine. I do not know if this can cause our issues.

Can you share a short video of this behavior paired with the log data 4 captured during the video?

It was kind of hard to capture on film, but you can see and hear the vibration during the ascent of the vehicle.
Video showing vibration

Log files:
00000022.BIN (1.2 MB)
00000020.BIN (5.7 MB)
00000021.BIN (160 KB)

Thanks for helping us.

Kristian

[Bjarte (Bjarte Langeland)]

Hi

When tilting the vehicle and thrusting sideways it seams to follow a curved path. Have you tried the Navigator and BlueOS in a 8 thruster configuration?