I am confused,does Ardurover really support IBUS protocol?

ArduRover
1

Hi all, i am confused of RCIN protocol.

my device:

1.pixhawk 2.4.8

2.firmware : ardurover 4.2.3

3.transimmiter: flysky NB4

4.receiver: flysky ftr16s, connect to pixhawk RCIN pins

when i set the receiver SBUS out, missionplanner can read the servo value, it works fine, the steering and throttle are OK.

but I set the receiver IBUS out, pixhawk can not read anything, the RC calibrate bar color is grey in missionplanner.

I look for in the Ardupilot document, it says support IBUS, so I am confused,does Ardurover really support IBUS protocol?

I am appreciated if you can help me, thanks a lot.

2

I think I have found the answer. Ardupilot firmware just can read 14 channels of ibus protocol, while my ftr16s has 18 channels， that’s the key! So, I use ESP32 with codes change ftr16s 18chs into 14chs, it works now!
The picture shows the IBUS protocol onvertion between 18ch and 14ch.

ibus18chto17ch
ibus18chto17ch614×758 211 KB

3

My device connection

show
show1920×2560 402 KB

4

the src from github

src
src763×609 21.6 KB