Hello, I’m trying to control a gripper via MAVSDK in offboard mode. I’m working with a hexacopter using Pixhawk 6C and PX4 v1.14.3. I’ve seen some related information here, but I couldn’t find the PD_GRIPPER_EN parameter.
Then I tried to control it directly via MAV_CMD_DO_SET_ACTUATOR, but I only have 8 PWM outputs, where AUX1-6 are motors and AUX8 is for the gripper. However, MAV_CMD_DO_SET_ACTUATOR sets six AUX channels simultaneously instead of eight.
So, the solution I came up with is: set AUX8 to Gimbal roll in QGC, and then use a mission_item in MAVSDK to control the Gimbal roll angle, which would affect the PWM output to control the gripper. I haven’t tried this yet, but I think it’s feasible.
Can anyone confirm if this approach works? Also, I feel this method isn’t very user-friendly. Is there a simpler way to control just a single AUX output channel?
Thanks.