FMU & PX4IO - Rover vs Quad


When looking at the fmu and px4io status of a quad vs rover (both on Pixhawk 2.1, both with px4fmu-v3) there are some differences that are apparent and that I need to address, but am not sure where to focus. Below is the quad status:

Note that the pwm mode is pwm6, the checks are all “ok”, the actuators have values, the servos are receiving signal.

However, below is the rover status:

There is no pwm, several checks are bad, flat actuator values, and no signal to servos.

Which files / areas do I need to be concentrating on to address these issues with the rover?


I believe we found the bug causing this issue.

In ~/Firmware/ROMFS/px4fmu_common/init.d/rc.ugv_defaults the following line must be deleted (or change control group):

set PWM_AUX_OUT 1234

What is happening is that the PWM_OUT 1234 control group is being overwritten. Hence no output to the main rails.