situation
I am operating it as a model Rover in missionplanner.
version Rover4.5.1
what is connected
ESC for RC Rover (forward/stop/backward switchable)
steering servo
CH1 RCin1
CH3 RCin3
situation
Manual operation is possible by pressing the safety switch, but
Arming is not possible because the PreArmError cannot be cleared.
I would like to autopilot the rover using missionplanner.
No solution found.
Someone please help!
Hello @takeo-m welcome to the community
You need to use the SERVOX_FUNCTION parameters to define at least one output.
https://ardupilot.org/rover/docs/common-rcoutput-mapping.html
I have confirmed the message contents.
Of course, SERVOxFunction has parameters set.
SERVO1_Function RCIN1→RCPassThru
SERVO3_Function RCIN3→RCPassThru
I changed it to prearm:no moter,sail or scripting outputs define
The message could not be deleted.
It is unclear why this message appears in the first place.
By the way, you can prevent the message from appearing by setting Alloff for ARMING_CHECK.
It’s not a very good solution.
The message will only go away once you set at least one of the SERVOx_FUNCTION to: motor, sail or scripting.
You have set them to RCPassThru
RCPassThru is not motor, sail or scripting.
Do not change arming checks. Keep them all enabled!
This is the wiki page that will hopefully clarify what the options are for setting SERVOx_FUNCTION values.
Best of luck.
Thank you for your advice.
MOT_PMW_TYPE =Normal→brushdebipola
I tried changing it to , but there was no particular change.
Standard rover settings are
SERVO1_FUNCTION=26(GroundSteering)
SERVO3_FUNCTION=70(Throttle)
However, with this setting, SERVO3 does not respond.
Because I have no choice
SERVO1_FUNCTION=RCIN1(Steering)
SERVO3_FUNCTION=RCIN3(Throttle)
I’m doing it.
Normally, RCIN1 & RCIN3 are set, so there is an error message
prearm:no moter,sail or scripting outputs define
It shouldn’t come out.
Another thing I noticed is that the message “d” is repeatedly displayed as a GCS message following this error.
I do not get it.
Nothing seems to work for now, so I’m planning to arrange another ESC and check the operation again.
I apologize for the trouble.
Hi @takeo-m,
By setting these two values it means that you’re just passing through the PWM from the RC input so basically it’s just an RC car. It won’t be capable of any autonomous functions.
SERVO1_FUNCTION=RCIN1(Steering)
SERVO3_FUNCTION=RCIN3(Throttle)
Could you please provide a picture of the vehicle and an onboard log? As we always say, it’s just guess work without a log.
I tried replacing it with another ESC.
SERVO1_FUNCTION=26(GroundSteering)
SERVO3_FUNCTION=70(Throttle)
Now it works.
It seems that it was simply a problem on the ESC side.
Sorry to bother you.