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PX4-Autopilot/docs/en/frames_sub/index.md
Victor Nan Fernandez-Ayala 62b94fa73e
docs(frames_sub): update BlueROV2 docs and align UUV surge/heave stick mapping (#26822) 
* 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.
2026-03-31 14:42:52 -07:00

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Submarines (Unmanned Underwater Vehicles - UUV)

:::warning Support for UUVs is experimental. Maintainer volunteers, contribution of new features, new frame configurations, or other improvements would all be very welcome!

At time of writing manual and assisted manual modes are available for supported UUV frames, as well as ROS in offboard mode. The following features have not been implemented:

  • Autonomous mission-style underwater workflows are still limited compared to aerial vehicles.
  • BlueRobotics gripper support.

:::

PX4 has basic support for UUVs. For BlueROV2 Heavy, PX4 currently supports Manual, Stabilized, Acro, Altitude and Position modes.

Supported Frames

PX4 supports several unmanned underwater vehicle (UUV) frames. The set of supported configurations can be seen in Airframe Reference > Underwater Robots.

PX4 Compatible (Fully Assembled)

This section lists fully assembled vehicles where you can update the software to run PX4.

Other Frames

Videos