Does ArduRover support AKM Rover and how to configure？

[lida2003 (Daniel Li)]

@stephendade

SERVO1_FUNCTION = 73
SERVO2_FUNCTION = 74
SERVO3_FUNCTION = -1
SERVO4_FUNCTION = -1
SERVO5_FUNCTION = -1
SERVO6_FUNCTION = -1
WENC_TYPE = 1
WENC_PINA = 50
WENC_PINB = 51
WENC2_TYPE = 1
WENC2_PINA = 52
WENC2_PINB = 53

After proper settings:

1. Servo & ENC settings (H743 PWM3/4/5/6 are numbered 52/53/54/55) and position always 1100 (it seems nothing to do with RC controller)
   

   
   
   
   

2. ESC, support PWM
   

   

3. ARMING_CHECK set to zero

Now, except steering servo is OK, I have following issue:

a) motor are running when I first selected BurshedWithRelay( I can’t stop, so remove the power)
b) the motor never spins again when repower or reboot
c) MP continously report “bad compass health”. Yes I didn’t connect the GPS, but I have disabled arming check, why it still report “bad compass health”?

Is there any other settings I am still missing here.

EDIT: Can’t use motor test either

MP prints following message, but motor doesn’t spin.

4/5/20 8:43:30 : Throttle disarmed
24/5/20 8:43:28 : Throttle armed
24/5/20 8:43:28 : Warning: Arming Checks Disabled