Test

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.

  1. Set the flight mode to manual.
  2. Try to Arm the vehicle using the gamepad.
  3. Move the forward joystick 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.
  4. Move the vertical joystick 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).

Parameter name Value
ARMING_CHECK Disabled
BRD_SAFETYENABLE Disabled
ATC_ACCEL_Y_MAX Disabled
PILOT_VELZ_MAX 50 cm/s
PILOT_ACCEL_Z 50 cm/s/s
ATC_RAT_YAW_FILT 30

You have to power cycle the system after setting these parameters to get them to work.

Using 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 Stabilize mode.

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.