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BlueROV2 Height control Altitude Mode (#26364)

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* removed commented out parts

* changed the height controller to work in Altitude mode and moved the controller to the uuv_pos_control.hpp instead of uuv_att_control.hpp

* Updated format changes etc. Removed one parameter, that is not used anymore(UUV_HGT_MODE) added my correct email

* added a rotation to the thrust, that with different roll and pitch values, x y z thrust is still working as if roll/pitch is zero.

* fixed constant roll/pitch to be 0.0 again

* added parameter for maximum distance between controlled des height and current height.
Added state observation to reset the desired height to current height when altitude mode is turned on.

* added first short descriptions of manual modes.

* update descriptions

* removed vector dependency

* feat: updated gz submodule

* fix: newline

* fix: gz submodule

---------

Co-authored-by: Pedro Roque <roque@caltech.edu>
This commit is contained in:
Tim
2026-02-21 07:46:12 +01:00
committed by GitHub
parent 9048a40277
commit 8f870a1346
6 changed files with 199 additions and 24 deletions
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21
docs/en/frames_sub/bluerov2.md
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@@ -2,9 +2,11 @@
<Badge type="tip" text="PX4 v1.12" />
The [BlueROV2](https://bluerobotics.com/store/rov/bluerov2-upgrade-kits/brov2-heavy-retrofit-r1-rp/BlueROV2) is an affordable high-performance underwater vehicle that is perfect for inspections, research, and adventuring.
The [BlueROV2](https://bluerobotics.com/store/rov/bluerov2-upgrade-kits/brov2-heavy-retrofit-r1-rp/BlueROV2) is an
affordable high-performance underwater vehicle that is perfect for inspections, research, and adventuring.
PX4 provides [experimental support](index.md) for an 8-thrust vectored configuration, known as the _BlueROV2 Heavy Configuration_.
PX4 provides [experimental support](index.md) for an 8-thrust vectored configuration, known as the _BlueROV2 Heavy
Configuration_.
![Hero](../../assets/airframes/sub/bluerov/bluerov_hero.jpg)
@@ -14,9 +16,11 @@ PX4 provides [experimental support](index.md) for an 8-thrust vectored configura
### Motor Mapping/Wiring
The motors must be wired to the flight controller following the standard instructions supplied by BlueRobotics for this vehicle .
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](../airframes/airframe_reference.md#vectored-6-dof-uuv):
The vehicle will then match the configuration documented in
the [Airframe Reference](../airframes/airframe_reference.md#vectored-6-dof-uuv):
<img src="../../assets/airframes/types/Vectored6DofUUV.svg" width="29%" style="max-height: 180px;"/>
@@ -29,6 +33,15 @@ The vehicle will then match the configuration documented in the [Airframe Refere
- **MAIN7:** motor 7 CCW, stern starboard vertical, propeller CW
- **MAIN8:** motor 8 CCW, stern port vertical, propeller CCW
## Manual Modes
| Mode | Description |
|----------|------------------------------------------------------------------------------------------------------------------------|
| Manual | Direct manual control of yaw and thrust. |
| Acro | Manual control of yaw/thrust, but keeps roll/pitch zero |
| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero |
| Position | Controlls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero |
## Airframe Configuration
BlueROV2 does not come with PX4 installed.