Start/Stop switch Pixhawk

Posted by Kirby G on June 15, 2014 at 8:54am

I am looking over the start stop switch wiring documentation. It says to use A0-A8 for the apm. But i cant figure out what that would correlate to for the pixhawk. Any help or pointing to where I can find this info would be appreciated.

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  • Admin
    Thomas J Coyle III June 15, 2014 at 9:09am

    @Kirby,

    Here is how you can implement the Start/Stop switch on the Pixhawk:

    Use Aux Servo output channel 6 (Virtual Pin 55) Ground this pin to enable throttle output in Auto Mode, unground to disable throttle output in the Auto Mode.

    Set the following parameters as indicated:

    BRD_PWM_CNT  0 (Makes the Aux Servo outputs all digital)

    AUTO_TRIGGER_PIN  55

    INITIAL_MODE  10 (Auto Mode)

    FS_THR_ENABLE  0

    After programming the above parameters, you will need to reboot the Pixhawk for the changes to take affect.

    Regards,

    TCIII ArduRover2 Developer

    • Kirby G > Thomas J Coyle III June 15, 2014 at 1:11pm

      Thanks. I got it working now it appears. I also adjusted THR_MAX so it wouldn't take off too quick on me while practicing.

      So i understand this correctly. This switch is just stopping a throttle signal when in off position. If this switch was not there when the rover would be turned on it would automatically start for the waypoints since it came on in auto. The steering servo will be active in either position of the switch.

      If I need to take control back turning my transmitter on will allow me to switch to manual and control it then. Also the position of switch does not affect throttle control from the transmitter

    • Admin
      Thomas J Coyle III > Kirby G June 15, 2014 at 1:26pm

      Hi Kirby,

      The CRUISE_SPEED parameter sets the rover velocity that it will try to attain when in the Auto Mode.

      Yes, the Start/Stop switch turns the throttle output channel on and off if the INITIAL_MODE is set to 10 (Auto Mode).

      If you leave the INITIAL_MODE set to 10 and disable the Start/Stop switch, then the rover will takeoff, assuming there is GPS lock and a Mission has been loaded, the moment the Pixhawk is ARMED with the arming switch.

      Yes, you should be able to take control with the Mode Switch on your transmitter by selecting the Manual Mode, but I do not know for sure. You will need to try it.

      Regards,

      TCIII ArduRover2 Developer

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