# BlueROV2

The [BlueROV2](https://bluerobotics.com/store/rov/bluerov2-upgrade-kits/brov2-heavy-retrofit-r1-rp/BlueROV2) is an affordable high-performance underwater vehicle that is perfect for inspections, research, and adventuring.

PX4 provides [experimental support]() for an 8-thrust vectored configuration, known as the _BlueROV2 Heavy Configuration_.

![Hero](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-e67331623cd5f7c3137c58ba6a57bb9936a51259%2Fbluerov_hero.jpg?alt=media)

## Where to Buy

[BlueROV2](https://bluerobotics.com/store/rov/bluerov2/) + [BlueROV2 Heavy Configuration Retrofit Kit](https://bluerobotics.com/store/rov/bluerov2-upgrade-kits/brov2-heavy-retrofit-r1-rp/)

### 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](../../airframe_reference#vectored-6-dof-uuv):

![](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-969b85a75cd06d23fb90a1b4e84e08687cf1b924%2FVectored6DofUUV.svg?alt=media)

* **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

## Airframe Configuration

BlueROV2 does not come with PX4 installed. You will need to:

1. [Install PX4 Firmware](../../../config/firmware#installing-px4-main-beta-or-custom-firmware) :::note Prior to PX4 v1.12 you will need to install the "master" version.
2. [Set the Airframe](../../config/airframe). You will need to select the "BlueROV2 Heavy Configuration" as shown: ![QGC - select airframe for BlueROV2 Heay configuration](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-cd88393cfc45cb48c8fd648e1db1ddf3ff8856bf%2Fqgc_airframe.jpg?alt=media)

## Video

@[youtube](https://www.youtube.com/watch?v=1sUaURmlmT8)
