Discussions

Hi there,

I'm currently working on a project that requires me to use up to 10 of the I/Os on the Pixhawk. I'm planning to make an autonomous drone that does particular things, so I need to write custom control code. Looking at the base framework, I'm currently stuck.

I understand that sensor and actuation information is passed from one software module to another module using a publication/subscription system via uORB. However, how do I actually control the signal coming out of each of the pins on the Pixhawk? I see that the outputs on each pin depends on the airframe selection, so if for example I want to write any PWM duty cycle at a frequency of my choice to each of the 8 regular pins and 6 auxiliary pins, what would be the way to do that?

In some sample code, I see that one module publishes a structure of control data, but I have no idea how the data flow works from that point on, and where does the processing from -1/+1 to a PWM value occurs.

I'm sure many people have tried to do this, so help would be greatly appreciated!

Thanks!