Looking to use the Pixracer on a VTOL aircraft with use of a PCA9685(1) I2c to PWM converter, for PWM expansion. Currently, I'm trying to rewrite the driver for the PCA9685 board so that it subscribes to the actuator_controls_virtual_fw instead of the Gimbal(2). Is there an easier way to change the driver so that the PCA9685 outputs a mirror of the AUX OUT ports? Let me know if I am on the right track with this, also let me know if I should post under another category.
(1) This is the PCA9685 Converter
(2) Line 313 is where I would need to start editing to subscribe to the correct channel.