8000 Create ArduSub custom configurations for different sets of thrusters · Issue #18 · kas-lab/suave · GitHub
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Create ArduSub custom configurations for different sets of thrusters #18

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Rezenders opened this issue Oct 21, 2022 · 5 comments
Open

Create ArduSub custom configurations for different sets of thrusters #18

Rezenders opened this issue Oct 21, 2022 · 5 comments
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Custom thruster configurations for different sets of available thrusters.

The bluerov has in total 6 thrusters. When one or more thruster fails the frame configuration model that ArduSub uses should be replaced by one that represents the runtime configuration.

More info:
https://www.ardusub.com/quick-start/vehicle-frame.html
http://www.ardusub.com/developers/developers.html#making-a-custom-configuration
https://discuss.bluerobotics.com/t/sitl-with-qgc-and-gazebo-with-custom-frame/9323
https://discuss.bluerobotics.com/t/ardusub-sitl-custom-frame/7403
https://discuss.bluerobotics.com/t/custom-frame-configuration/4428
https://discuss.bluerobotics.com/t/build-custom-frame/9709
@Rezenders Rezenders self-assigned this Oct 21, 2022
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Rezenders commented Oct 21, 2022 •
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I posted a question in bluerobotics discourse: https://discuss.bluerobotics.com/t/is-it-possible-to-adapt-at-runtime-the-motors-contribution-to-the-6dof/13079

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This will require some modifications to ArduSub code.

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ArduPilot/ardupilot#9175

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https://ardupilot.org/dev/docs/debugging-with-gdb-on-linux.html

@Rezenders Rezenders added this to the SEAMS2023 Exemplar milestone Nov 7, 2022
@Rezenders Rezenders removed this from the SEAMS2023 Exemplar milestone Jan 6, 2023
@Rezenders Rezenders added the enhancement New feature or request label Jan 6, 2023
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Idea for workaround: change speed when thruster fails

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