Unable to properly use hardpoint control

PX4 Autopilot
1

After several days trying to figure out how to properly use hardpoint control I finally decided to come here asking for help.

I’m trying to send a hardpoint control over mavlink console, however I’m not succeeding at all. The can node is visible and operational, but I couldn’t do anything possible to send a hardpoint command over mavlink or QGC GUI ( I’m sniffing the can bus, no message related to hardpoint control appears)

Tried to recompile the firmware with specific defines such as config_uavcan_hardpoint_controller=y and others defines I found on the internet.

As I didn’t succeed I merged a code I found that could be able to make it work : add ability to control uavcan hardpoint by MAV_CMD_DO_GRIPPER by PonomarevDA · Pull Request #19124 · PX4/PX4-Autopilot · GitHub

Despite properly compiling, the function also didn’t succeed when I added my gripper as servo 1 on UAVCan actuators.

I would like to have some guidance as I just need to send this command (0 or 1) for specific hardpoint id present on the can bus . The code seems to be already there I just don’t know how to trigger the actions over mavlink console.

Could you please help me in understanding what I’m missing here ?

2

I forgot mentioning the px4 fw and hw version.

It’s 1.16.0(latest version ATM)

Hardware is a px4 FMU V5

3

Hi guys, I managed to make it work on mavlink terminal using the native UAVCan actuators.

What I have done, basically implemented the calls for the already existing hardpoint control and exposed the methods to be accessed on the UAVCan menu, super simple.

The topic can be closed, if anyone is interested in getting the code changes let me know I would pr.