# Ways/protocols available to control Ardusub in a simple use case

**URL:** <https://discuss.bluerobotics.com/t/ways-protocols-available-to-control-ardusub-in-a-simple-use-case/22110>\
**Category:** DIY ROVs\
**Created:** [December 6, 2025, 12:28am UTC](https://discuss.bluerobotics.com/t/ways-protocols-available-to-control-ardusub-in-a-simple-use-case/22110 "2025-12-06T00:28:48Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![papaxiclas](https://avatars.discourse-cdn.com/v4/letter/p/8edcca/32.png) [@papaxiclas](https://discuss.bluerobotics.com/u/papaxiclas)\
**Post date:** [December 6, 2025, 12:28am UTC](https://discuss.bluerobotics.com/t/ways-protocols-available-to-control-ardusub-in-a-simple-use-case/22110/1 "2025-12-06T00:28:48Z")

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Hello!  
I have an ROV that is working currently with a modified INAV firmware but want to test Ardusub but I am having a difficult time trying to just connect a radio to it.  
I have one RC receiver on the surface connected to an arduino that converts the sbus and sends it trough the umbilical to a second arduino aboard that encodes the sbus signal again and feeds it to the FC with INAV.  
How can I configure ardusub to accept the SBUS signal? I don’t really want/need to have all the fancy telemetry and etc, I just want the stabilization and altitude hold that works underwater.  
Can someone point in the right direction?

cheers

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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:** [December 6, 2025, 11:08am UTC](https://discuss.bluerobotics.com/t/ways-protocols-available-to-control-ardusub-in-a-simple-use-case/22110/2 "2025-12-06T11:08:01Z")

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Hi @papaxiclas, welcome to the forum 🙂

I’d recommend looking at the [radio control documentation](https://ardupilot.org/sub/docs/rc-setup.html), but be aware that ArduSub only recently had radio control properly compiled in, so you’ll need to use a development version of the firmware (not a current stable or beta).

> [@papaxiclas](#):
>
> I just want … altitude hold that works underwater.

Do you have an external barometer that ArduPilot has driver support for? Altitude hold requires an estimate of the altitude to use as a feedback mechanism.

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**Author:** ![papaxiclas](https://avatars.discourse-cdn.com/v4/letter/p/8edcca/32.png) [@papaxiclas](https://discuss.bluerobotics.com/u/papaxiclas)\
**Post date:** [December 6, 2025, 1:07pm UTC](https://discuss.bluerobotics.com/t/ways-protocols-available-to-control-ardusub-in-a-simple-use-case/22110/3 "2025-12-06T13:07:59Z")

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Thanks Eliot for your feedback. I searched for the RC parameters but for some reason I couldn’t find that.  
I am using an MS5837 as a depth sensor right now, I think it works with ardusub correct?

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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:** [December 6, 2025, 11:00pm UTC](https://discuss.bluerobotics.com/t/ways-protocols-available-to-control-ardusub-in-a-simple-use-case/22110/4 "2025-12-06T23:00:54Z")

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> [@papaxiclas](#):
>
> I searched for the RC parameters but for some reason I couldn’t find that.

I’m not well-versed in how search works in the ArduPilot docs, but searching “Radio Control” the page comes up near the top, and “RC” is used quite broadly so it shows up quite far down.

I’ll see if I can go about adding some keywords or something that would make the page easier to find in future.

> [@papaxiclas](#):
>
> I am using an MS5837 as a depth sensor right now, I think it works with ardusub correct?

Assuming you have a `-30BA` or `-02BA` variant (I’m not sure whether there are any others) then yes, that should be supported.