SUB Control
A lightweight Windows controller for ArduSub ROVs over USB/MAVLink.
Quick start
Install Python 3.11+ with the Python launcher, then run:
./run.ps1
The script creates a virtual environment and installs dependencies automatically. On first launch, it also adds a SUB Control desktop shortcut. Select a COM port and Connect, or choose Demo Mode to try it without hardware. Connection settings are under •••. Click Data link for an extended connection test, or Console to inspect RX/TX messages and pause the view.
Controls
- Joystick: forward/back and turning. Vertical slider: rise/dive.
- Keyboard: W/S forward/back, A/D or Q/E turn, R/F rise/dive.
- Hold engage for 1.4 seconds to request arming; tap disengage to request disarming. The app waits for vehicle confirmation.
- Movement controls ease back to neutral when released.
Includes adjustable output limit, motor setup, voltage-based battery status, an STL viewer, and session logs in logs/.
Safety
Verify motor direction, ESC settings, and vehicle failsafes before use. Remove propellers for initial bench tests and keep a physical power cutoff available. A lost connection cannot guarantee the motors stop.