Solve ArduSub ROV not advancing problem

This solution is only applicable to the ROV of the ArduSub control system.

Problem Description:
I have encountered a problem in the ROV experiment: when using the remote control to control the ROV to drive forward, the ROV can not drive forward, and the ROV appears to be backward.

Cause Analysis:
There are many problems with the ROV not being able to move forward, and the following are the problems encountered in the experiment:
1. ROV vector layout, the layout of the motor with the flight control wiring problems.
2. The propeller of each motor is different, there are forward propeller and reverse propeller need to distinguish.
3. Remote control, the remote control is damaged or calibration error.
4. ESC is damaged, there are several MOS tubes in the ESC, which are easy to be damaged when working.

Solution:
1. The layout of the ROV propeller, the layout of the motor and the wiring of the flight control.
The layout of the thruster of the ArduSub control system is as follows:

Check if the motor wiring is correct in the flight control or in QGroundControl, ports 1-8 in the MAIN OUT of the flight control correspond to the above motor layout. If there is no problem with the wiring, you can also debug individual motors in QGroundControl by dragging the corresponding motors up and down, the following is the interface for individual motor control:

2. The propeller of each motor is different, and there is a positive propeller and a negative propeller that need to be distinguished.
In the picture above, the blue motor is the positive propeller, the green motor is the negative propeller, in the picture above, the white box of Reverse Motor Direction can be adjusted to the motor forward and reverse, the general ROV can't move forward normally with this setting also has a certain relationship.

3. Remote control, the remote control is damaged or the remote control calibration error.
The remote control may have a sensitivity problem, and may make a mistake when calibrating, if the calibration is wrong, the ROV will not work properly, and the ROV propeller may start by itself. You can do the calibration in the QGroundControl remote control related calibration page.

4. ESC is damaged, there are several MOS tubes in the ESC, which are easy to be damaged when working.
If you have tried all the above operations and still can't solve the problem that the ROV can't advance, it is recommended that you use an oscilloscope to test the output of the ESC after it is powered on.