Designing my own autonomous underwater vehicle

PX4 Autopilot
1

I am trying to design my own underwater vehicle, similar to the BlueRov2.

I want to use my pixhawk 6x flight controller since I am able to connect my thrusters and depth sensor together on one board.

However, after reading the documentation from Submarines (Unmanned Underwater Vehicles - UUV) | PX4 Guide (main)
I am left with more questions and I hope some kind soul can answer them:

  1. How does QGC work underwater, is the connection established through an ethernet port when the uuv is tethered? What happens if we need to untether the uuv in order to perform autonomous tasks?
  2. Is there a way to use my own airframe and own thruster mapping since we are designing our own?
  3. Are there any other viable alternatives such as Ardusub and has anyone tried it out before?

Thank you guys so much in advance!

2

DISCLAIMER: I’m only attempting a new vehicle myself.

  1. Would you get enough flexibility by starting with BlueRov2 files as a template?
    I mean create/modify these files :

ROMFS/px4fmu_common/init.d-posix/airframes/xxxx_gz_your-model

ROMFS/px4fmu_common/init.d-posix/airframes/CmakeLists.txt
xxxx_gz_your-model

PX4-Autopilot/Tools/simulation/gz/models/your-model
/meshes/*
model.config
model.sdf

You might want to modify and compile QGroundControl to support a new model visually. I gave up .