BlueROV2 (UUV)

PX4 v1.12

The BlueROV2 is an affordable high-performance underwater vehicle that is perfect for inspections, research, and adventuring.

PX4 provides experimental support for an 8-thrust vectored configuration, known as the BlueROV2 Heavy Configuration.

Де купити

BlueROV2 + BlueROV2 Heavy Configuration Retrofit Kit

Відповідність двигунів/підключення

The motors must be wired to the flight controller following the standard instructions supplied by BlueRobotics for this vehicle .

The vehicle will then match the configuration documented in the Airframe Reference:

• MAIN1: motor 1 CCW, bow starboard horizontal, , propeller CCW
• MAIN2: motor 2 CCW, bow port horizontal, propeller CCW
• MAIN3: motor 3 CCW, stern starboard horizontal, propeller CW
• MAIN4: motor 4 CCW, stern port horizontal, propeller CW
• MAIN5: motor 5 CCW, bow starboard vertical, propeller CCW
• MAIN6: motor 6 CCW, bow port vertical, propeller CW
• MAIN7: motor 7 CCW, stern starboard vertical, propeller CW
• MAIN8: motor 8 CCW, stern port vertical, propeller CCW

Basic Control Axes

For underwater vehicles, motion is defined in terms of body axes:

• Surge: forward/back motion - translation along the body X axis.
• Sway: left/right motion - translation along the body Y axis.
• Heave: up/down motion - translation along the body Z axis.
• Yaw: rotation about the (vertical) body Z axis.

Stick Mapping (Mode 2)

The mapping below illustrates the default joystick behavior:

• Pitch stick (forward/back): surge
• Roll stick (left/right): sway
• Throttle stick (up/down): heave
• Yaw stick (left/right): yaw

Manual Modes

The following manual and assisted modes are currently supported on BlueROV2 Heavy:

Режим	Опис
Manual	Direct manual control of thrust and yaw.
Stabilized	Manual control of thurst and yaw with roll/pitch stabilization.
Acro	Manual control of yaw-rate and direct thrust commands with roll/pitch stabilization.
Altitude	Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch stabilized.
Положення	Controls x, y, z and yaw with position hold when sticks are released. Keeps roll/pitch stabilized.

Joystick Stick Mode

BlueROV2 supports two joystick mappings for manual control, selected using the UUV_STICK_MODE parameter.

By default, UUV_STICK_MODE is set to 0, which enables the UUV stick mapping intended for vectored underwater vehicles.

UUV_STICK_MODE = 0 (default)

This mode is intended for normal BlueROV2 operation. In Manual, Stabilized, and Acro modes, the sticks command:

• Pitch stick: surge - moving stick up -> moving forward, +X translation in body frame.
• Roll stick: sway - moving stick right -> moving sideways right, +Y translation in body frame.
• Throttle stick: heave - moving stick up -> moving upwards, -Z translation in body frame (note the Z axis points Down of the vehicle in PX4).
• Yaw stick: yaw - moving stick right -> yawing to the right, +Z rotation in body frame.

In this mode, roll and pitch are kept level rather than commanded directly.

UUV_STICK_MODE = 1

This mode enables the legacy multicopter-style stick mapping for Manual, Stabilized, and Acro modes:

• Throttle stick: surge - moving stick up -> moving forward, +X translation in body frame.
• Roll stick: roll - moving stick right -> rolling to the right side, +X rotation in body frame.
• Pitch stick: pitch - moving stick up -> pitching down, -X translation in body frame (note signs are switched to follow PX4 standard).
• Yaw stick: yaw - moving stick right -> yawing to the right, +Z rotation in body frame.

This mode is mainly provided for compatibility with older setups and user preference.

Конфігурація планера

BlueROV2 не йде з предвстановленою версією з PX4. Вам потрібно:

1. Install PX4 Firmware
2. Set the Airframe. You will need to select the "BlueROV2 Heavy Configuration" as shown:

Відео