Help in creating rover

Hello, I have not been able to assemble a rover for 1 month
I will explain the whole situation: my supervisor instructed me to assemble a rover on the remote control. I began to study articles on the subject and follow the step by step instructions, but because I do not understand (or do not understand at all) what I do, I do not get anything (a normal explanation of the meaning of steps I have not found). I reread hundreds of times guide, watching training videos but they are always something missed or not given due attention (in the calculation that it is already clear), but I do not understand! Also, I got someone else, old PixHawk and I do not know what was it before me, but it periodically breaks without reason. I’m already tired of struggling with it, because I really want to learn how to build a Rover by myself, but the whole situation takes me out of force. So please, knowledgeable people help me!!!
About what I use:
RadioLink at10 remote control
RadioLink r12ds receiver
PixHawk 2.4.8 (with official Rover firmware v4.2.3)
Driver zd-5ad(I will attach the truth table)
Case from a machine consisting of two 9 V brush motors(one of which turns the wheels and the other is the rear drive)
I need it to be controlled by remote control with two channels (one responsible for forward and backward, the other for the right-left)
And one more question in the servo output there are different functions but it is not clear to me what they do and how to control them.Also I would really like to know how to link functions and rs channels.

here’s the principle of the swivel mechanism and if you power it too long, it will fly out of the slot and it can’t swivel anymore


I doubt you will get a working rover with the parts you have.

  1. That motor controller does not work with ardurover, at least not without a lua script perhaps.

  2. Ardurover needs a proportional steering control. It is hard to tell from the pictures, but it looks like there is no feedback from the steering position to the motor. This will not work.

  3. Read and follow the ardurover documentation:

Do you know how to control two functions with one channel (I mean through the right stick (which is the default function Throttle))? I just need to give different digital signals for different outputs (i.e. for one output there will be 1, and the other 0. In the middle for both outputs should be 0 and 0. At the bottom of the turn 0 for one and 1 for another)

Ardurover does not work with on/off motor control. It needs to be able to control the rovers speed.
It looks like you can use a PWM signal to control the motor driver, but it uses one pin for the forward signal and one for reverse. Ardupilot uses a PWM signal from ca. 1000us to 2000us for direction and speed. So 1500us -2000us is forward and 1500us - 1000us is reverse. You could use an external microcontroller like an arduino to translate that signal or write a lua script running on the Pixhawk to generate the needed signal on two servo outputs.

I found today how to control the motor: aux outputs and a relay function for the digital signal
(and yes you are right my driver is not able to sense the PWM signal )

The ZK-5AD can take a PWM input signal:

Controlling it with aux pins in relay mode will not help you, as ardurover will have no way to know what to do with those outputs.

The pwm on that controller (0-100%) isn’t compatible with the pwm from the fc, (1000-2000us)

If you want the rover to work on ardurover, use hobby rc servos and rc esc motor controllers (brushed or brushless are available)

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Yes, that might be the another problem. As I wrote in my first post, I doubt that this hardware will result in a working rover.

Okay, I get it, but what about the table and how do I get the same result? What settings do I need to change to output these values to the two outputs?

About the table? Well this is how it is,
Using that motor controller you CAN NOT get variable speed control out with a flight controller. Which means it wont be able to work properly.
The way a flight controller works is a whole heap of control loops trying to keep variables at setpoints using proportional outputs.

If you want to use ardupilot for a rover it must start with a hobby (1000-2000us pwm) esc (not a 0-100% pwm motor controller like you have)
And a servo for steering, or two escs for left and right differerential wheel control.

Hello.Do you know how to control two functions with one channel (I mean through the right stick (which by default is the Throttle function and is controlled by my 3 rc channel))? I just need to feed different digital signals to different outputs (i.e. one output will have 1 and the other will have 0. The middle for both outputs should be 0 and 0. The bottom of the turn is 0 for one and 1 for the other)
P. S this is necessary to control the driver which needs to supply a signal to the two pins(I use the AT-10 remote control from Radiolink) (изменено)

There are only so many ways to tell you the same thing: Ardurover will not work with digital control!
The only way to make it work will be to put an arduino in between to translate the RC PWM to full range PWM on two pins. I did this years ago with an H-bridge motor controller.
This will still leave the issue with steering, which will also not work with digital control. You will need a servo for steering.

I’ll try and say it in a different way, but it’s really just repeating the same answers you’ve already received.

The vehicle you have chosen is ill suited to ArduPilot. That doesn’t change no matter how many times you ask on various media platforms.

As Count says, you could put an Arduino in between the autopilot and the vehicle’s electronics, but I think that will invite more frustration than success based on your inquiries so far.