voxl2_io direct command pwm on channel 5
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Hi, I've been having trouble trying to set up a pitch gimbal on a voxl2 via channel 5 of the m0065 board. The control is pretty simple, I just need to update the pitch of the gimbal to a static angle once or twice during a mission. I could drive it with a tiny mcu over usb but I kind of want to avoid that as the m0065 board is already necessary in our build
Some things I already tried:
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Adding some uOrb control messages to the voxl-px4 build (ActuatorMotors, ActuatorServos, GimbalCommand), and sending the corresponding messages to command pitch on channel 5 via microdds bridge
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Sending a VehicleCommand message with the supposedly correct params isn't even received on the px4 side (output of a listener echo in the mavlink console). This is really weird as I've used vehicle_command to arm / mode switch vehicles before
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The failure of those methods made me think it's something to do with the gimbal module getting left out of the voxl-px4 SLPI build, so I added it and retried the GimbalCommand and VehicleCommand messages, but to no avail
I have yet to try mavsdk but the failure of all that other stuff doesn't make me too hopeful it's going to work.
Is there a way to directly command a pwm with the voxl2_io module (Either on the slpi side or apps side)? Like "voxl2_io set -c <channel> -v <value>" or something
Thank you!
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Hi @jon ,
Can you please confirm a few items:
- you are not using a modalai ESC and the voxl2_io board is controlling ESCs usign channels 1-4?
- are you able to actuate the channel 5 using QGC actuator test?
- are you able to map an RC switch to control channel 5 using your RC? is that a viable option for you?
I understand your issue, it seems there is some disconnect between the high level API to send the VehicleCommand and the low level voxl2_io driver in px4 running on DSP. If the actuator test and rc mapping is working then, the issue is going to be at a higher level, potentially the VehicleCommand message not getting through from the CPU side of px4 to the DSP. We will check on that.
Alex
