How to Control an Additional Motor Using I/O PWM OUT on PX4

PX4 Autopilot
1

I want to specify a certain port on the flight controller to output a set PWM signal to control a servo or motor. The tutorials I found suggest:

  1. Modifying the mixer configuration
  2. Adding a queue to send the actuator topic

However, I don’t know the exact code or implementation details.

My goal is: I want to control one more motor besides the four motors required for the drone to fly.

2

That’s the way with PX4 v1.14.x and v1.15.x. Open the actuator tab in QGC and set it up there.

You should be able to set it as Aux 1, and then configure that in the RC config as well.

3

I have similar situation except I want to control two additional motors from a custom module not just RC mapping to a AUX channel.

I basically want to send PWM values on PWM outputs 5 and 6 from a custom module without affecting PWM 1-4 which is required for the quadcopter to fly.

I already have a custom module compiled and running on my board. Can this be done via uorb or does it have to be at a lower level ? a code snippet for achieving what I’ve described would be helpful. Any help is appreciated : )