4WD/4WS robot rover project

QGroundControl Using QGroundControl
1

Neewbi here. I have trawled a lot of the posts here trying to learn. I need to build a 4WD 4WSteer robot for agricultural use. The area I am unclear on is how I get the relatively simple steering commands from the PX4 to control the 4 drive motors and the 4 steer motors. I know the Ackerman trigonometry in that if I want to get one wheel to turn left 10 degrees I know what I need to do with the other wheels in terms of angle and rotational speed. That’s just math. Can a 4WD/4WS rover be implemented in QGroundControl or do I need a ‘conversion’ Arduino or similar to interpret the PX4 commands into the more complex motor commands (PWM?) that I require. The motors are 12DC brushed for simplicity at this stage.
Thanks in advance for any guidance (excuse the pun)!
Colin

2

Can anyone help with this in any way at all please? If not then I will need to ditch QGC and look for another solution. Thanks in advance for any input.
Colin

3

Hi ! Your project interests me a lot! Have you found a solution to obtain the angle the wheels should have?

Thanks !