FiFishSim-Beta

Pilot a compact omni-directional underwater ROV. A physics-based simulator of the QYSEA FiFish V6 — 6 degrees of freedom, three real control styles, depth hold, onboard FPV + chase cameras, and an app-style heads-up display.

About

FiFish V6 Sim recreates the handling of a real underwater drone: a Smart-Thruster-Array vehicle that can move and rotate on every axis. Dive a foggy seabed, hold depth hands-off, switch between a stabilized beginner mode and full 6-DOF sport flying, and watch your attitude on a live posture readout with compass heading — just like the real FiFish app.

Built in Godot 4.7. Unofficial fan project based on the published FiFish V6 spec.

Features

• True 6-DOF movement — surge, sway, heave + yaw, pitch, roll
• Three control modes (A/S/C) matching the real FiFish remote
• Depth Hold — hands-off depth keeping
• Attitude auto-leveling for beginners; full roll freedom in Sport
• Onboard FPV cam + collision-aware chase cam (toggle live)
• App-style HUD — depth scale, compass + ROV heading, live 3D posture model
• Animated water surface with reflections; the rover floats at the waterline
• Keyboard and gamepad support

Control Modes

• A — Attitude (beginner): self-levels, no roll. Roll input becomes extra strafe. Holds depth steady.
• S — Sport (expert): full 6 DOF, FPV-relative, free roll. Holds depth only when you release vertical.
• C — Combination: Sport plus head-tracking input (VR-ready).

Controls

Gamepad recommended — the layout mirrors the real FiFish remote (on the RC the shoulder/trigger pairs are wheels).

Gamepad

Input	Action
Left stick	Forward / Back (surge) · Turn left/right (yaw)
Right stick	Pitch (up/down) · Roll (left/right)
L1 / L2	Ascend / Descend (heave)
R1 / R2	Strafe left / right (sway)
D-pad ↑	Open Settings menu
D-pad ↓ / ← / →	Cycle mode / Arm / Depth Hold
Y	Switch camera (Chase ↔ FPV)
A	Toggle headlights
X	Cycle control scheme
B	Restore level posture
Start	Cycle map

Android + Switch-style controller? Its triggers may not register — use L3 / R3 (stick clicks) for descend / strafe-right.

Keyboard

Mirrors the gamepad: WASD = left stick, arrows = right stick, Q/E = left wheel, R/F = right wheel.

Key	Action
W / S	Forward / Back (surge)
A / D	Turn left / right (yaw)
Q / E	Ascend / Descend (heave)
R / F	Strafe right / left (sway)
↑ / ↓	Pitch up / down
← / →	Roll (Sport) · extra strafe (Attitude)
M	Cycle control mode (A → S → C)
K	Cycle control scheme (ROV/UAV × USA/JPN/CHN)
V	Restore level posture
H	Toggle Depth Hold
L	Arm / Lock thrusters
C	Switch camera (Chase ↔ FPV)
G	Toggle headlights
Esc	Settings menu
1 / 2 / 3 / 0	Select map / cycle map
F3	Reveal sponges
F2	Toggle camera HUD
F1	Debug overlay

Control schemes

All six official FiFish stick layouts (ROV/UAV × USA/JPN/CHN), selectable in Settings → Control. Default is ROV-USA. The active scheme shows on the HUD.

Mode	Left stick ↑↓	Left stick ←→	Right stick ↑↓	Right stick ←→	Left wheel	Right wheel
ROV-USA	Pitch	Yaw	Forward/Back	Roll	Up/Down	Strafe
ROV-JPN	Forward/Back	Yaw	Pitch	Roll	Up/Down	Strafe
ROV-CHN	Forward/Back	Roll	Pitch	Yaw	Up/Down	Strafe
UAV-USA	Up/Down	Yaw	Forward/Back	Strafe	Pitch	Roll
UAV-JPN	Forward/Back	Yaw	Up/Down	Strafe	Pitch	Roll
UAV-CHN	Forward/Back	Strafe	Up/Down	Yaw	Pitch	Roll

Tips

• Start in Attitude mode — it self-levels and won't tumble.
• Toggle Depth Hold (H) to free your hands for steering.
• Press C for the onboard FiFish camera; watch the posture model and compass for orientation.
• Dive deeper than ~1 m for the best feel.

Disclaimer

Unofficial, non-commercial fan simulator. "FiFish" and "QYSEA" are trademarks of their owner; this project is not affiliated with or endorsed by QYSEA. Based on publicly published specifications.