Passing PWM values to companion computer - scripting?

ArduCopter Copter 4.4
1

Hi. I’d like my Pixhawk 6C to read the PWM value on a given channel (say, CH7) and then just forward that value to my Jetson Nano. I’m essentially trying to communicate with the Jetson via the RC controller.

What is the best way to ferry the PWM value to the Jetson? I have a successful MAVLink set up between the Pixhawk and the Jetson - Pixhawk is currently just spitting out telemetry. I dabbled around in Lua scripting to see if I could just use get_pwm(RC_CHANNEL) in Lua and send it out in a custom message but I’m not sure what MAVLink commands work best.

Is there a simpler way for the Pixhawk to send simple serial data to a companion computer?

Thanks!

2

I may have answered my own question. I will try the SERIAL/UART commands listed here: https://ardupilot.org/copter/docs/common-lua-scripts.html. I wonder if a UART configured here shows up on the TELEM2 port of my Pixhawk 6C.