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

Initial Setup for XBox Controllers on Windows

For using the shift button functionality of XBox Controllers on Windows:

  1. Go to Start -> Settings
  2. Open the Gaming settings

  3. Go to Game Bar tab from the left navigation panel
  4. Uncheck the ‘Open Game bar using this button on a controller’ option

This will enable the XBox home button on the controller to be used as the Shift button for ROV controls.

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”

Update Software

There are two computers installed on the BlueROV2: a Pixhawk autopilot, and a Raspberry Pi ‘companion’ computer. Before proceeding, we will check that the software on both computers is up to date, and update the software if necessary.

Companion

Companion is the software that runs on the Raspberry Pi. To perform a companion software update:

  • Plug a fully charged battery into the ROV and connect the tether to your computer.
  • Navigate to 192.168.2.2:2770/network in your browser and ensure that the ROV has access to a WiFi network. If you do not see a webpage at this address, you need to perform the update according to the instructions here.
  • Navigate to 192.168.2.2:2770/system. Click the button that says ‘Update companion’. If you do not see this button, then the companion software is up to date.
  • The update process will take between 5 and 20 minutes depending on the Internet connection speed. Wait for the update process to complete.
  • When it completes, refresh your browser. The companion version should be updated, and the update available message should no longer appear.
  • If the update fails (usually due to a loss of internet connectivity), you will be warned that the ROV will reboot and to leave the battery plugged in. At this point, once you are able to refresh the webpage, it is safe to either power down the ROV or attempt the update again.

ArduSub

ArduSub is the software that runs on the Pixhawk autopilot. To perform an ArduSub software update:

  • Navigate to 192.168.2.2:2770/network and ensure that the ROV has an internet connection
  • Navigate to 192.168.2.2:2770/system. Click the button under the ‘Pixhawk Firmware Update’ section that says ‘Stable’.
  • Wait for the update process to complete, and you are finished!

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 configured prior to operation.

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. Go to the Vehicle Settings page in QGroundControl and select the Motors tab in the sidebar on the left.
  2. Read and understand the instructions on the setup page
  3. Arm the BlueROV2 by clicking the switch on the page
  4. One at a time, move each slider, and make sure that the motor that spins is pushing air in the correct direction. If a motor is spinning in the wrong direction, click the corresponding checkbox under the ‘Reverse Motor Direction’ section to correct the motor rotation.
  5. When you are finished with the setup, disarm the ROV by clicking the switch

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.