Quadcopter with Wheels

As part of a custom prototype, a small team and I are building a triphibious drone, using a Pixhawk 4, Qgroundcontrol, SIK Telemetry radios and an XBOX controller. We have 8 flight motors actuated via ESCs and 4 wheel motors that utilize an Arduino instead of an ESC. For the wheels, we want to control the two lefthand wheels with one PWM signal from the Pixhawk (which is mapped forward and backward via the Arduino) and the two right wheels via another PWM signal. I would like have a custom flight mode where only the wheels are active and another flight mode where only the flight motors are active. How could I go about this?

Could I try and utilize the Servo parameters, or do I need to make a custom frame that combines the Ackerman and Generic Octorotor Quadcopter for flight and drive modes?

Hello,

The way comes to my mind is to stick with one flight mode and just control servos when landed using passthrough:

Maybe someone else has a better idea!

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I am having trouble finding Generic Actuator Control for joysticks. I was under the impression that Passthrough was for RC controllers.