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These are the build instructions for OpenROV v2.7.

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Stability of the ROV

Suppose, we need to stop our ROV at a depth of 10 ft, can we get good stability only with thrusters, or do we need to use ballast tanks?

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If you have one of our IMU/Depth Modules installed on your ROV and the latest software then yes you should be able to do it all with the thrusters. We have a couple of built in control algorithms (both are still in BETA testing). One of these control algorithms is for depth hold. We are continuing to work on the software on the ROV in order to make it more reliable with less overshoot and drift. We have not conducted a full test of the overshoot but based off initial testing my best guess is that it should maintain +/- 6 inches.

-Brian G.

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Thank you for your reply.

Why don't you use ballast tanks instead of thrusters ?

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Thursters allow for faster maneuverability and quick changes in direction which is desirable for most users. Traditional ballast tanks would require an air line run to the ROV and adding another entire system onto an already small ROV. If you think that ballast tanks would work better for your application we would love to see what you develop!

-Brian G.


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