Pixhawk hardware problem regarding limit switch

ArduRover
1

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

2

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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3

Thanks, I will take a look at that

4

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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5

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

6

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?

7

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?

8

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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