[FEATURE]: Implement a top-level controller manager #8
Description
Feature Type
Adding new functionality to the BlueROV2 driver
Problem Description
ArduSub does not have a flight mode which supports sending PWM commands directly to the thrusters.
Feature Description
Implement an interface that sets the parameters of each thruster to PWM pass-through. It is worth noting that, when the parameters have been modified, the arming procedure and any implemented failsafes will be disabled. Consequently, it will be necessary to also implement some safety measures to avoid hardware damage. Examples of safety features include an arming procedure and checking the current battery charge. These features should be implemented using mavros.
Alternative Solutions
An alternative approach could be to modify the ArduSub firmware directly to include a distinct flight mode. While that would be a fine solution, this would reduce the portability of this interface to other systems and platforms and would place a dependency on the developers to maintain a fork of ArduSub.