Control channels with PILOT_STEER_TYPE

Hi,

We have a boat with two independed thrusters We have a herelink controller and we wish to use skid steering with both sticks. Left controlling forward/reverse left motor, right controlling forward/reverse right motor. I’ve set PILOT_STEER_TYPE to 1, but how can we control which channels it should use for left and right motor? Is it hardcoded that it uses channel 1 for left motor?

Or do I misunderstand this PILOT_STEER_TYPE feature?

https://ardupilot.org/rover/docs/rover-steering-input-type-and-reversing-behaviour.html

Thanks in advance!

I think its in the configuration:

Thanks, but perhaps I did not explain it well enough. I did not ment the motors because that indeed is settable with the SERVOx_FUNCTION, but how can we choose the stick channels.

In the docs there’s this part:

Once enabled, raising RC input 1 channel high is like controlling the left motor of a skid-steer vehicle so the vehicle will turn right. Raising RC input channel 3 is like controlling the right motor so the vehicle will turn left. Raising both channels high will cause the vehicle to move forward, lowering both will cause the vehicle to backup.

I’ve got an Herelink, and I wish to set the left stick (up and down, channel 3) to map to the left motor, and the right stick (up and down, channel 2) to map to the right motor.

Should I do this with RCMAP?

Yes, refactor the RCMAP parameters to assign the channels you want to use.