# VOXL2 IO independent Disarm PWM value per channel?

Source: https://forum.modalai.com/topic/4146/voxl2-io-independent-disarm-pwm-value-per-channel
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2025-02-04 09:36:08 UTC by Gary Holmgren
Replies: 4 · Views: 678

## Gary Holmgren · 2025-02-04 09:36:08 UTC

Hi, I’d like to be able to assign specific channels with separate PWM disarm values as various motors I am using have different settings with their respective ESCs. I know this is fairly standard for other FC’s including the FCv2 where I’m able to set a min/max and disarm value for each of the 8 channels independently. Currently when I go to disarm I’m stuck with some motors spinning and some not unless I make a MAVSDK script to disable the motor parameters depending on what I’m doing. It would be nice to not have to worry about that though. 

Would there be a way to implement this or does the px4 driver for the M0065 have to be rewritten to accommodate?

## Reply by Alex Kushleyev (ModalAI staff) · 2025-02-04 22:23:26 UTC

Hi @Gary-Holmgren,

We tested this functionality but due to insufficient demand, we did not mainline it, because it would require parameter change and could cause confusion.

https://github.com/modalai/px4-firmware/commit/abd04fafa746af512960a1de2386d5d7f6cb512a

However, you should be able to cherry pick this commit into latest px4-firmware from voxl-dev branch or whatever you are using now.

No need to modify M0065 because the interface between VOXL2 and M0065 does not specify the limits - M0065 just creates the pulse of the specific length that VOXL2 requests and M0065 does not care about the limits, so all the logic is done in VOXL2 / PX4.

After this change, the voxl2_io driver will look for the following px4 params, which have standard convention / naming. Defaults will be used if not specified.
(for x=1:8)
- VOXL2_IO_FUNCx
- VOXL2_IO_MINx
- VOXL2_IO_MAXx
- VOXL2_IO_DISx
- VOXL2_IO_FAILx

Alex

## Reply by Matt69 · 2026-05-08 16:40:45 UTC (in reply to Alex Kushleyev)

@Alex-Kushleyev Does this package also include ability to set induvial max/min values per M0065 channels along with disarming? Does this capability currently exist in stock Voxl2 build?

Thanks!

## Reply by Alex Kushleyev (ModalAI staff) · 2026-05-08 19:31:34 UTC (in reply to Matt69)

@Matt69 , I am sorry, we did not mainline it. However, you should be able to use this commit to enable the individual pwm channel limit control like a standard servo setup.

Alex

## Reply by Matt69 · 2026-05-09 18:06:40 UTC (in reply to Alex Kushleyev)

@Alex-Kushleyev Sounds good, thank you!