Relay control on raspberry pi 4 in auto mode

Hardware Linux
1

Hello everybody. I am using CubeOrabgePlus(ardupilot 4.4.0 Rover) + raspberry pi 4 with mavlink-router installed, for my vehicle.
all PWM outputs on CubeOrabgePlus are already engaged.

There is a task to control relays connected to raspberry pi 4 from the mission in auto mode.
It’s possible?

2

is there any way to make raspberry pi as DroneCAN Adapter?

3

It can be done but would require a lot of work, you could use DoneCan Nodes to map Servo and control pwm based relays or connect relay to FC directly and reroute some Servo/Esc to the Node

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