PX4-Autopilot/docs/zh/frames_sub/bluerov2.md

# BlueROV2 (UUV)

<Badge type="tip" text="PX4 v1.12" />

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_.

![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-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 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;"/>

- **MAIN1:** motor 1 CCW, bow starboard horizontal, , propeller CCW
- **MAIN2:** motor 2 CCW, bow port horizontal, propeller CCW
- **MAIN3:** motor 3 CCW, stern starboard horizontal, propeller CW
- **MAIN4:** motor 4 CCW, stern port horizontal, propeller CW
- **MAIN5:** motor 5 CCW, bow starboard vertical, propeller CCW
- **MAIN6:** motor 6 CCW, bow port vertical, propeller CW
- **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.
You will need to:

1. [Install PX4 Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)
2. [Set the Airframe](../config/airframe.md).
   You will need to select the "BlueROV2 Heavy Configuration" as shown:
   ![QGC - select airframe for BlueROV2 Heay configuration](../../assets/airframes/sub/bluerov/qgc_airframe.jpg)

<!-- what other tuning/testing/ etc? -->

## 视频

<lite-youtube videoid="1sUaURmlmT8" title="PX4 on BlueRov Demo"/>

<!-- @DanielDuecker on github is good person to ask about this frame -->