Help Needed: Setting Up Autonomous ArduBoat with PWM Linear Actuators and IC Engine

ArduRover ArduBoat
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1

Request: Help with ArduBoat Setup Using Linear Actuators

Hi,
Can anyone help me with connections and parameter settings for an ArduBoat that runs on linear actuators?

Project Overview:

  • The boat is powered by an internal combustion (IC) engine.
  • Goal: Convert it into an autonomous vehicle using waypoint navigation.

Current Hardware:

  • 3 PWM-based linear actuators, used for:
    • Steering
    • Reverse bucket(for reverse )
    • Res wire (throttle)

Known Facts:

  • Tuning will need to be done physically during field testing.
  • Voltage supply for actuators has already been handled (no issue there).
  • Actuators are controlled via PWM (Pulse Width Modulation).

Assistance Required:

  • What is the basic setup for enabling autonomous navigation?
  • Which ArduPilot parameters need to be configured?
  • Which connection pins (e.g., AUX or MAIN outputs on the flight controller) should be used for each actuator?
  • Is there a need for a custom Lua script for logic or switching?
  • Any relevant wiring diagram or **similar YouTube video link for reference instead of servo linear actuator will be used ** is attached below for reference.

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2

Hi, you can find relatively cheap linear actuators controllers based on relays h bridges and limit switches that will allow you to safely command the actuators using a pwm input.
Drawback is that it will not be proportionnal.
Apparently yours are already pwm controlled with a feedback potentiometer inside so maybe the above is irrelevant.
As for channels mapping they will need to be plugged in as an esc or servo with the correct output parameter set, check out the setup section in the AP documentation for that.
Being internal combustion you absolutely need a form of redundant kill switch to be able to stop the engine in case of loss of rc or telemetry !

3

Got your point, but I am using direct PWM output. So, in ArduBoat waypoint navigation, as per my knowledge, the boat will not go in reverse direction. I have to manually set a channel for that actuator, meaning only throttle and steer will play a role for autonomous navigation. Do I need to set any specific parameters, or if throttle and steer are functioning manually with RC input, will it automatically be translated for waypoint navigation?" , lets say throttle connected on channel 3 and steer on channel 1