Can you receive input signals through AUX ports?


I am trying to install a wheel encoder to the Traxxas Stampede ( vehicle. I am currently using PX4 on PixHAWK with rover configuration.

For last couple weeks, I have been browsing here and reading manuals to find out if it is possible to take input signals through AUX ports of PixHAWK in PX4. I know in ArduPilot we can, and there is a way to get Wheel Encoder configured, but I am not sure if I can do it in PX4

The wheel encoder is this:

So far, in qGroundControl, I set PWM_AUX_REV1 parameter to -1 to make it as input. I am not sure what my next step would be.

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