How to control a Rover with some "virtual" RC output?

ArduRover
1

Hi,

I have a rover that I am reverse engineering to just do simple motion control. Since it doesn’t use any known protocols, I can’t just wire up the ArduPilot board (I’m using RPI + Navio) to the rover.

But I do have ability to modify the remote control, so I have rewired its joystick style potentiometers, and now the remote-control board receives input from an ESP32 that I own.

In ArduRover I would like to get the RC outputs locally on the Linux machine, so I can then transform those into commands that I need to send to the ESP32.

I think I have a workaround, to just connect SBUS from NAVIO directly to the GPIO of the RPI, but I would prefer not doing that.

Any ideas on how to proceed?

Thanks!