Before using the submarine in real water conditions some test are required to ensure everything works.
Remove all the electronics and test no water is entering once submerged. It is recommend to perform this in a safe area and let the vehicle a while inside water.
forwardjoystick forward and verify that the thrusters that produce some forward thrust are operating in the correct direction and blowing out the back of the vehicle.
verticaljoystick upwards and verify that the thrusters that produce some vertical thrust are operating in the correct direction and blowing air downwards.
The parameters are called
MOT_1_DIRECTION for motors 1-8 and valid values are 1 (normal) or -1 (reverse).
You have to power cycle the system after setting these parameters to get them to work.
Manual mode underwater check that all motors works. Is hard to control the vehicle like this. Once checked all motors that are working, switch to
Manual Mode is normally set to Mode 1 (default mode). In this mode, the vehicle only output motor controls based on the pilot input from the joysticks. There is no feedback stabilization, heading holding, or depth holding.
Stabilize Mode automatically stabilizes to level roll and pitch angle and maintains heading when not commanded to turn. The vertical control is left entirely to the pilot.
DepthHold Mode is the same as stabilize mode with the addition of automatic depth holding. The throttle control is used to increase or decrease the holding depth.