Pixhawk hardware problem regarding limit switch

Hello there, I want to connect a limit switch to my pixhawk 6c so that when my rover hit anything it can detect it and do some reactions. But I can’t find gpio ports in my pixhawk, may I know where I should connect it or is it feasible to use limit switch for that? thanks

Any of the FMU ports can be configured for GPIO. This question has come up before, search the forum for “bumper switch”.

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Thanks, I will take a look at that

Another option is to use Crash Detection. I have crashed into many things with my Rovers and in most cases it works pretty well. Default is hold but with scripting I suppose other action is possible.

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But it will rely on things like lidar right? or do pixhawk 6c can support this function without external hardware?

I took a look at the pixhawk 6c port document, I guess I could connect the limit switch to FMU debug port, while c connects to vdd, and no and nc just connect to the other 2 fmu port?

For the crash detection question, I found this document: Crash Detection — Plane documentation (ardupilot.org), so I don’t need external hardware for that I guess?

As I said default behavior for Rover crash detection is Hold mode. Plane crash detection isn’t applicable,
And also as I said any FMU channel can be configured for GPIO. There are 6 on that FC.

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