Sub Modes

Sub has the following modes:

legend for requirements: P - needs Position(GPS,etc.), D - needs Depth sensor, R - needs Rangefinder

Mode	Description	Requires
MANUAL	Pilot control with no stabilization
ACRO	Body-frame rate control, manual depth control
STABILIZE	Manual angle control, manual depth control
ALT_HOLD	Stabilize with automatic depth control	D
AUTO	Automatic mission command list execution	P/D
GUIDED	Swim to location or velocity/direction using GCS	P/D
CIRCLE	Circle swim with depth control	P/D
SURFACE	Return to surface, pilot directional control	P/D
POSHOLD	Loiter with depth control and pilot overrides	P/D
MOTOR_DETECT	Automatically determine motor rotation and adjust	D
SURFTRAK	Hold distance above seafloor while stabilizing	R

See Pilot Control(to be added) for more details on modes.

Mode Specific Parameters

CIRCLE Mode

• CIRCLE_RADIUS

• CIRCLE_RATE

• CIRCLE_OPTIONS

Depth Control Related

• SURFACE_DEPTH

• PILOT_SPEED_UP

• PILOT_SPEED_DN

• PILOT_SPEED

Stabilization Related

• ANGLE_MAX

• JS_GAIN

Auto/Guided Waypoint Navigation Related

• WPNAV_SPEED

• WPNAV_RADIUS

• WPNAV_SPEED_UP

• WPNAV_SPEED_DN

• WPNAV_ACCEL

• WPNAV_ACCEL_Z

• WPNAV_RFND_USE

• WP_YAW_BEHAVIOR

Mode Selection

By default modes are controlled via MAVLink command from the GCS or companion computer, or by Joystick Buttons. But RC control can be enabled by setting:

• RC_PROTOCOLS not equal to zero (“1” is usually used)

• FLTMODE_CH to the RC channel which will control swim mode selection

• FLTMODE1 - FLTMODE6 to desired Swim Mode