Sub Frame Configurations¶

Several bi-directional motor configurations/orientations are available in Sub:

Key to axis: R = Roll, P = Pitch, Y = Yaw, Z= Depth, F = Forward, L = Lateral

FRAME_TYPE	#MOTORS	NAME	Controllable Axes
0	6	BlueROV1	R/P/Y/Z/F/L
1	6	Vectored	R/Y/Z/F/L
2	8	Vectored_6DOF	R/P/Y/Z/F/L
3	8	Vectored_6DOF-90	R/P/Y/Z/F/L
4	3	SimpleROV-3	Y/Z/F
5	4	SimpleROV-4	R/Y/Z/F
6	5	SimpleROV-5	R/Y/Z/F/L

Note

configurations lacking one or more controllable axes rely on proper CG and ballast to maintain earth-frame stability in that axis.

Frames¶

Green indicates clockwise propeller rotation, Blue, counter-clockwise