Ploting motor outputs from pixhawk for stablize mode

Depth Hold mode is used by default for the Zoidberg robot. To paraphase the ardusub documentation “Depth hold mode passes the pilot inputs directly to the motors, with heading and attitude and depth stabilization.” To parse this out, the sub will respond to RC commands as usual for manual mode, but will work to hold its heading and depth. Additionally, it will work to hold itself flat (no roll and pitch), but it needs to be fully actuated to do this completely (a 6 degree of freedom motor setup).

The challenge for working with Depth hold mode is that the Pixhawk needs the motors to be installed in the correct direction. Motor direction can be controlled using the QGroundControl GUI, but it is helpful to visualize the current motor responeses to pixhawk motion to get a feel for which motors might need direction swapping.