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mavlink / MAVSDK

API and library for MAVLink compatible systems written in C++17
https://mavsdk.mavlink.io
BSD 3-Clause "New" or "Revised" License
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How to change PWM output signal? #533

Closed maitham closed 1 month ago

maitham commented 5 years ago

I'm trying to change the PWM output using dronecode sdk. I don't need to run a mission or anything, I want to do a static test where I can simply change values. I seem to be running out of options in terms of simply changing pwm outputs within a script in a reliable manner (NSH pwm test works but only for main out). Is there anyway of currently doing this?

hamishwillee commented 5 years ago

I don't think this is possible with the SDK because there is AFAIK no API to support it AND this won't necessarily be supported by default in PX4.

Without having tried this (i.e. maybe not correct) .... to make it work in PX4 you'd have to look at adding a mixer file to map control inputs to outputs - http://dev.px4.io/en/concept/mixing.html To drive it you would need to send the appropriate MAVLink message (or have an onboard app that does the work for you).

hamishwillee commented 5 years ago

PS The people who might help with this are possibly at Interdrone.

@bkueng Can you comment about PX4 support? As I understand it the mixer is what defines what comes out of the MAIN/AUX outputs - for certain inputs (control group UORB topics?). Does the mapping between MAVLink and those UORB topics exist - ie if you create a mixer and send the appropriate MAVLink message will this work?

julianoes commented 5 years ago

@maitham1 this will need some work for the SDK.

In the meantime, if pwm test works, you should try to make pwm test work for the aux output as well. Note that there is a -d argument which should enable you to choose the device, e.g. /dev/pwm_output0 or /dev/pwm_output1.

julianoes commented 1 month ago

There is now the set_actuator call:

https://github.com/mavlink/MAVSDK/blob/68c8041bc911e31f99c8575a042d6b3919583b39/src/mavsdk/plugins/action/include/plugins/action/action.h#L447-L456