Hi everyone, I’m building Raspberry Pi based MAVlink - NMEA Python converter, to make it possible to use NMEA devices on Pixhawk/ArduRover boat.
And maybe it’s a rookie question, but I am struggling to find a way to get the values of the parameters I need from Pixhawk to Raspberry - I’ve never before been using Pixhawk, and even in this project I’m only doing this converter separately.
What the converter is doing, it getting some info from Pixhawk (i.e. heading, throttle, rudder angle, bow thruster throttle and so on) and creates NMEA sentences based on them.
And here is the question - let’s take throttle (or RPM, as NMEA calls it) - what is the best way of getting info about it from Pixhawk? I found somewhere in the documentation info about separating throttle and steering, by setting:
SERVO1_FUNCTION = 26 (GroundSteering)
SERVO3_FUNCTION = 70 (Throttle)
But how can I get to the actual value of throttle? Which parameter is it save in? SERVO3_VALUE (I know there is no such parameter, just trying to explain my way of thinking)?
I have a feeling that I’m just missing something really obvious, but what makes it even more difficult is that I have only plain PX for testing, without and motors, compass etc, so I cannot even test it properly
So I’d be extremely grateful if someone will explain to me how to get simple boat parameters from PX
PS: One more think, I am not able to change PX mode, neither in Mission Planner nor via Mavproxy, it’s set for Manual and every try to change it ends up with an error. Why is that?