Use MAV_CMD_SET_ACTUATOR and alternatives

MAVLink
1

Good morning.

For this project I’m using

  • Arduino Mega 2560
  • PX4 Cube Black
  • UART connection

I was testing a motor using a pwm pulsemeter calling MAV_CMD_DO_SERVO command with ESC pinned to 1 main out RC port, but the thing is that it’s only capable of spinning when I set SERVO1_FUNCTION is disabled(0), otherwise it returns a ServoRelayEvent: Channel 1 is already in use.

As far I understood, the DO_SERVO command can only be used with certain parameter values(0 -disabled). So basically what I need to solve is a way once I started the arm command, run the motors so it keeps that armed state and move the motor.

I read in the PX4 documentation that Actuators make the motors spin, but I’d like to know if there’s a specific command to make the motors spin besides the motor test and set_servo.