Hi,
I know, that it is not possible to use MAIN PPM out and UAVCAN actuators at the same time. I know many threads where people ask this. (UAVCAN esc and PWM OUT - #3 by michmich, …) And I also know a workaround to use AUX PPM outputs of autopilot. And I’m not really familiar with this. Which means I will lose some failsafe modes. Because of this, the servos (and other PPM actuators) will be controlled from FMU (instead of IO MCU).
And my question is what is the reason that you cannot use UAVCAN and MAIN PPM at the same time?
(this question was asked also on the slack. But without an answer.)