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docs/zh/frames_sub/bluerov2.md
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<Badge type="tip" text="PX4 v1.12" />
The [BlueROV2](https://bluerobotics.com/store/rov/bluerov2-upgrade-kits/brov2-heavy-retrofit-r1-rp/BlueROV2) is an affordable high-performance underwater vehicle that is perfect for inspections, research, and adventuring.
The [BlueROV2](https://bluerobotics.com/store/rov/bluerov2/) is an
affordable high-performance underwater vehicle that is perfect for inspections, research, and adventuring.
PX4 provides [experimental support](index.md) for an 8-thrust vectored configuration, known as the _BlueROV2 Heavy Configuration_.
PX4 provides [experimental support](index.md) for an 8-thrust vectored configuration, known as the _BlueROV2 Heavy
Configuration_.
![Hero](../../assets/airframes/sub/bluerov/bluerov_hero.jpg)
## 购买渠道
[BlueROV2](https://bluerobotics.com/store/rov/bluerov2/) + [BlueROV2 Heavy Configuration Retrofit Kit](https://bluerobotics.com/store/rov/bluerov2-upgrade-kits/brov2-heavy-retrofit-r1-rp/)
[BlueROV2](https://bluerobotics.com/store/rov/bluerov2/) + [BlueROV2 Heavy Configuration Retrofit Kit](https://bluerobotics.com/store/rov/bluerov2-accessories/brov2-heavy-kit/)
### Motor Mapping/Wiring
The motors must be wired to the flight controller following the standard instructions supplied by BlueRobotics for this vehicle .
The motors must be wired to the flight controller following the standard instructions supplied by BlueRobotics for this
vehicle .
The vehicle will then match the configuration documented in the [Airframe Reference](../airframes/airframe_reference.md#vectored-6-dof-uuv):
The vehicle will then match the configuration documented in
the [Airframe Reference](../airframes/airframe_reference.md#vectored-6-dof-uuv):
<img src="../../assets/airframes/types/Vectored6DofUUV.svg" width="29%" style="max-height: 180px;"/>
@@ -29,6 +33,15 @@ The vehicle will then match the configuration documented in the [Airframe Refere
- **MAIN7:** motor 7 CCW, stern starboard vertical, propeller CW
- **MAIN8:** motor 8 CCW, stern port vertical, propeller CCW
## Manual Modes
| 模式 | 描述 |
| -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
| 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 |
| 安装位置 | Controls x/y/z and yaw. Manually controlled by user. Keeps roll/pitch zero |
## Airframe Configuration
BlueROV2 does not come with PX4 installed.