Main output on serial?

Hi everyone,

I would like to know if there’s an easy way to redirect the main outputs on a serial port. I this case, the engines input are not PWM but RS485. Is there an easy way to configure that ?

In the case I will need to modify the code, where shall I start ?



As inspiration you can look at, as well as

Basically you have to subscribe to actuator_controls_0 and then send it out where you need it.

thank you for the resources, I’ll have a look.