Hi,
Simple problem, when I set UAVCAN_ENABLE to 3, it doesn’t set the PWM anymore.
I actually need both, so throttle on uavcan_esc, but servos en PWM (I’m using generic ground vehicle).
(in the rcS file)
if param greater UAVCAN_ENABLE 0
then
# Start core UAVCAN module.
if uavcan start
then
if param greater UAVCAN_ENABLE 1
then
# Start UAVCAN firmware update server and dynamic node ID allocation server.
uavcan start fw
if param greater UAVCAN_ENABLE 2
then
set OUTPUT_MODE uavcan_esc
fi
fi
else
# Error tune.
tune_control play -t 2
fi
fi
What do I need to set?
Thanks,
Mich
Hi, you need to check in rc.interface. Enabling UAVCAN moves the MAIN mixer to UAVCAN and the AUX mixer stays on FMU.
This means that you should put your ESC in the MAIN mixer and the servos in the AUX mixer (I guess now everything is in the MAIN mixer).
Good luck!
1 Like
Hi,
Thanks a lot for your reply!
I checked the rc.interface, and I agree:
if [ $OUTPUT_MODE = uavcan_esc ]
then
set OUTPUT_DEV /dev/uavcan/esc
fi
Which means that /dev/pwm_output0 is not enable anymore apparently.
In my mixer, I did this:
# Set mixer
set MIXER ugv_generic
set MIXER_AUX ugv_generic
set PWM_OUT 1234
Which to my understanding should mix duplicate send the pwm commands.
It does work.
Again, thanks a lot for you reply