Cannot determine method to control individual thrusters on Ardusub

[codymarquardt]

Hi,

I am working on a control system for the BlueROV and I have tried offboard actuator control, rc_override and manual control. None of these seem to allow me to bypass the thruster mixer to command PWM signals directly to the actuators. Is there any easy workaround to this or do I just need to go and create a custom thruster frame?

[julianoes]

I don't know. I would ask someone from BlueROV (@patrickelectric ?) what the API should be. Then we can check if MAVSDK supports that.