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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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DroneCAN hardpoint support gripper hardpoint via RC channel #23112

Open benjinne opened 2 months ago

benjinne commented 2 months ago

Describe problem solved by the proposed feature

https://docs.px4.io/main/en/peripherals/gripper.html#supported-grippers

doesn't list CAN as a supported method for grippers to use, and I'm not seeing the function available.

My goal is to use the EPM v3 via uavcan as a gripper to control with an RC channel as documented in Ardupilot https://ardupilot.org/copter/docs/common-electro-permanent-magnet-V3.html

It seems some initial support was added in: https://github.com/PX4/PX4-Autopilot/pull/19124 however it was never merged.

If anyone has suggestions on if this functionality is available or suggestions on how to implement, I'd be willing try and implement it.

Describe your preferred solution

Implement DroneCAN hardpoint support via RC channel

Describe possible alternatives

N/A

Additional context

No response

dirksavage88 commented 2 months ago

There is a hardpoint controller in the uavcan driver, but I am not sure how this would map to RC. A starting point is to be able to control the EPM via this hardpoint uavcan actuator message.

mrpollo commented 2 months ago

it looks like this PR has been updated with the proper CAN message https://github.com/PX4/PX4-Autopilot/pull/19124