BlueROV2 Software Setup



Software Introduction

These are instructions for the first time that you set up your computer to work with the BlueROV2. If you have not assembled your BlueROV2, please see our Assembly Manual and assemble your BlueROV2 prior to setting up the software.

Select your operating system below to begin the installation and network configuration:

Windows Mac Linux

Install QGroundControl

To connect your computer to the BlueROV2, you need to download and install QGroundControl:

Network Setup

If your computer does not have an Ethernet port, you will need a USB to Ethernet adaptor. We recommend using this one.

Network Settings

  1. Go to Control Panel > Network and Sharing Center and then choose “Change adapter settings”.

  2. Right click on the Ethernet adapter, then choose Properties.

  3. In the properties dialog, choose Internet Protocol Version 4 (TCP/IPv4), then click Properties.

  4. Select “Use the following IP address” And enter 192.168.2.1 for the IP address and 255.255.255.0 for the Subnet mask. Then select OK.

Firewall

  1. Go to Control Panel > Windows Firewall and then select “Allow an app or feature through Windows Firewall”.

  2. Select “Change Settings” and then select “Open source ground control app provided by QGroundControl dev team” or “QGroundControl”.

Joystick Setup

XBox 360 Controller

  • Plug and Play

XBox One Controller

Logitech GamePad (F710 and F310)

Logitech controllers should have the switch on the back set to “X”.

Install QGroundControl

To connect your computer to the BlueROV2, you need to download and install QGroundControl:

Network Setup

If your computer does not have an Ethernet port, you will need a USB to Ethernet adaptor. We recommend using this one.

Network Settings

  1. Go to System Preferences > Network

  2. If your computer has an Ethernet port, select Ethernet from the options on the left side. If you had to get a USB to Ethernet adapter, plug it in now then select it.

  3. Select the dropdown next to “Configure IPv4” and then select “Manually”

  4. Enter 192.168.2.1 for the IP Address and 255.255.255.0 for the Subnet Mask and then select apply.

Joystick Setup

XBox 360 Controller

  1. Download the driver here. For more information on this driver, see the Readme.
  2. Install the XBox 360 controller driver.
  3. Plug in the Windows XBox 360 Wireless Receiver for Windows.
  4. Turn on the XBox 360 Controller.

XBox One Controller There is currently no support for wireless use.

  1. Download the driver here. For more information on this driver, see the Readme.
  2. Install the XBox 360 controller driver.
  3. Plug in the XBox One Controller directly to the computer using a micro USB cable.
  4. Turn on the XBox One Controller.

Logitech GamePad (F710 and F310)

Logitech controllers should have the switch on the back set to “X”

Install QGroundControl

To connect your computer to the BlueROV2, you need to download and install QGroundControl:

Network Setup

If your computer does not have an Ethernet port, you will need a USB to Ethernet adaptor. We recommend using this one.

Network Settings

  1. Click the Network Icon in the toolbar at the top of the screen, and click “Edit Connections…”

  2. Click “Add”

  3. Select “Ethernet” for the connection type and click “Create…”

  4. From the “Device MAC Address” dropdown, select the ethernet interface you want to use. If you are using the built in ethernet card on your computer, there will be only one choice. If you are using a USB to Ethernet adapter, find out which interface corresponds to the adapter by looking at the options before and after plugging the adapter into the computer.

  5. Click the “IPv4 Settings” tab, and from the “Method” dropdown menu, select “Manual”. Click “Add”, and enter 192.168.2.1 for the Address, 255.255.255.0 for the Netmask and 0.0.0.0 for the Gateway. Click “Save…” to complete the setup.

Joystick Setup

All required drivers for wired Xbox 360 controllers and Logitech F310 controllers come pre-loaded on Ubuntu 14.04 and 16.04, no setup necessary!

Logitech GamePad (F710 and F310)

Logitech controllers should have the switch on the back set to “X”

Joystick/Gamepad Calibration

Some joysticks require calibration before you can enable them for use with QGroundControl. If your joystick requires calibration, the Joystick tab on the Vehicle Settings page will be red, and you should follow these steps to calibrate your joystick. If your joystick does not require calibration, the Joystick tab will not be red, and you can skip this step!

  1. Go to the Vehicle Settings page in QGroundControl, then click on the red Joystick tab in the sidebar on the left.

  2. Ensure the ‘TX Mode’ selection is set to 3.

  3. Click “Calibrate”, then click “Next”.

  4. Follow the step-by-step instructions, move the sticks as indicated in the diagram in QGroundControl.

When completed, the Joystick tab will no longer be red, and the Enabled checkbox on the Joystick page should be checked.

Button Setup

The default button setup for the BlueROV2 is as shown in the image below:

The button functions may be reconfigured in the Joystick tab on the Vehicle Settings page.

Sensor Calibration

  1. Go to the Vehicle Settings page in QGroundControl and select the red Sensors tab in the sidebar on the left.
  2. Choose Roll90 for the Autopilot Orientation selection.
  3. Click on the Accelerometers and follow the instructions.
  4. Click on Compass and follow the instructions.

When completed, the Sensors tab will no longer be red.

Configure Motor Directions

The motor directions for the BlueROV2 must be tested prior to use.

Be sure to keep all body parts and clothing clear of thrusters while the BlueROV2 is armed.

Do not run thrusters for longer than 30 seconds in air.

  1. Set the flight mode to “Manual”.

  2. Arm the BlueROV2 by pressing “Start”.

  3. Move the left-hand joystick forwards and verify that the thrusters are running the correct way. Air should be blowing out of the four vectored thrusters towards the back of the vehicle. If one of the thrusters is blowing air towards the front, go to Settings in QGroundContorl, then go to Parameters and select MOT. Select the motor that is blowing air towards the front and switch the motor direction using the dropdown on the right.

  4. Move the right-hand joystick forwards and verify that the thrusters are running the correct way. Air should be blowing out of the two vertical thrusters towards the bottom of the vehicle. If one of the thrusters is blowing air towards the top, go to Settings in QGroundControl, then go to Parameters and select MOT. Select the motor that is blowing air towards the top and switch the motor direction using the dropdown on the right.

Voltage and Current Measurement Setup

The default settings for voltage and current measurement are for the Multistar High Capacity 4s 10,000mAh battery that we recommend. If you select a different battery, you can adjust your voltage and current measurement setup by going to Settings then select Power. The only thing that you will need to change is the “Battery capacity”, which can changed by simply typing in the size of the battery into the box.

SOS Leak Sensor Setup

In the Safety tab, select “Pixhawk Aux6” as the leak detector pin, and set the Logic when dry to “Low.”

To The First Dive!

Your computer setup is now complete! Please see our Operations Manual to finish getting ready for your first dive!

Issue Reporting

We’re always trying to make our documentation, instructions, software, and user experience better. If you’re having an issue with anything, please report it so that we can address it as soon as possible! Here’s where to do that depending on what’s wrong:

  • ArduSub Issues: For anything related to the ArduSub software that runs on the Pixhawk and controls the ROV, reports issues on the ArduSub Github Issues Page. If you’re unsure where your issue should be posted, you can report it here.
  • QGroundControl Issues: For anything related to the QGroundControl software, joystick setup, video streaming, etc., please report an issue on the QGroundControl Github Issues Page.
  • Documentation: For anything related to the documentation and instructions here, please report an issue on the Blue Robotics Documentation Github Issues Page.