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docs(frames_sub): update BlueROV2 docs and align UUV surge/heave stick mapping (#26822)

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* Swap joystick surge/heave mapping in manual, stabilized and acro modes to make it similar to position modes

* docs: update UUV/BlueROV2 modes and joystick mapping

* Document basic control axes and joystick mapping

Added basic control axes and stick mapping for BlueROV2.

* Fixed formatting issue

* Enhance clarity of control axes and stick mapping

Clarified descriptions of motion axes and joystick controls for BlueROV2.
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Victor Nan Fernandez-Ayala
2026-03-31 14:42:52 -07:00
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commit 62b94fa73e
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docs/en/frames_sub/bluerov2.md
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@@ -33,14 +33,67 @@ the [Airframe Reference](../airframes/airframe_reference.md#vectored-6-dof-uuv):
- **MAIN7:** motor 7 CCW, stern starboard vertical, propeller CW
- **MAIN8:** motor 8 CCW, stern port vertical, propeller CCW
## Basic Control Axes
For underwater vehicles, motion is defined in terms of body axes:
- **Surge:** forward/back motion - translation along the body X axis.
- **Sway:** left/right motion - translation along the body Y axis.
- **Heave:** up/down motion - translation along the body Z axis.
- **Yaw:** rotation about the (vertical) body Z axis.
### Stick Mapping (Mode 2)
The mapping below illustrates the default joystick behavior:
- **Pitch stick (forward/back):** surge
- **Roll stick (left/right):** sway
- **Throttle stick (up/down):** heave
- **Yaw stick (left/right):** yaw
![RC Basic Commands](../../assets/flying/rc_mode2_mc_position_mode.png)
## Manual Modes
| Mode | Description |
| -------- | -------------------------------------------------------------------------------------------------------------------- |
| Manual | Direct manual control of yaw and thrust. |
| Acro | Manual control of yaw/thrust, but keeps roll/pitch zero |
| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch zero |
| Position | Controls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero |
The following manual and assisted modes are currently supported on BlueROV2 Heavy:
| Mode | Description |
| ---------- | --------------------------------------------------------------------------------------------------------------------------- |
| Manual | Direct manual control of thrust and yaw. |
| Stabilized | Manual control of thurst and yaw with roll/pitch stabilization. |
| Acro | Manual control of yaw-rate and direct thrust commands with roll/pitch stabilization. |
| Altitude | Manual control of x/y thrust and yaw. Control of height with PID, manually controlled by user. Keeps roll/pitch stabilized. |
| Position | Controls x, y, z and yaw with position hold when sticks are released. Keeps roll/pitch stabilized. |
## Joystick Stick Mode
BlueROV2 supports two joystick mappings for manual control, selected using the
[UUV_STICK_MODE](../advanced_config/parameter_reference.md#uuv_stick_mode) parameter.
By default, `UUV_STICK_MODE` is set to `0`, which enables the UUV stick mapping intended for vectored underwater vehicles.
### UUV_STICK_MODE = 0 (default)
This mode is intended for normal BlueROV2 operation.
In `Manual`, `Stabilized`, and `Acro` modes, the sticks command:
- **Pitch stick:** surge - moving stick up -> moving forward, +X translation in body frame.
- **Roll stick:** sway - moving stick right -> moving sideways right, +Y translation in body frame.
- **Throttle stick:** heave - moving stick up -> moving upwards, -Z translation in body frame (note the Z axis points Down of the vehicle in PX4).
- **Yaw stick:** yaw - moving stick right -> yawing to the right, +Z rotation in body frame.
In this mode, roll and pitch are kept level rather than commanded directly.
### UUV_STICK_MODE = 1
This mode enables the legacy multicopter-style stick mapping for `Manual`, `Stabilized`, and `Acro` modes:
- **Throttle stick:** surge - moving stick up -> moving forward, +X translation in body frame.
- **Roll stick:** roll - moving stick right -> rolling to the right side, +X rotation in body frame.
- **Pitch stick:** pitch - moving stick up -> pitching down, -X translation in body frame (note signs are switched to follow PX4 standard).
- **Yaw stick:** yaw - moving stick right -> yawing to the right, +Z rotation in body frame.
This mode is mainly provided for compatibility with older setups and user preference.
## Airframe Configuration