Differential motor steering in combination with a rudder

ArduRover Rover 4.6
1

Hi all,

i have a 20kg monohull boat with:

-2 motors (2 esc’s so they can work independant) = ch1 and ch2

-2 rudders combined on 1 servo = ch3

-skydroid T10

-pixhawk 6c mini firmware ardurover 4.6.3 via Mission Planner

i am not proficient in using all the gear but i am looking/struggling to get:

via left stick (x1 and y1) the combination of differential engine steering in combination with the rudder.

i have now

-ch1= throttle left

-ch2= throttle right

-ch3= groundsteering but it is not responsive in manual mode

for now there is no mixing at all: the engines either go both in forward or both in reverse.

i hope anyone can tell me if it is possible to combine differential motor steering with the rudder, both in manual mode and in auto modes. and what settings and parameters i should set in order for the pixhawk to mix both motors and the rudder..

thank you in advance!

2

There is an open PR about that:
Ackermann plus skid steer

1 Like
3

these guys seem to be way more proficient than me. i will read the topics 3 times and try to understand :laughing:
thank you for leading me in the right direction!