Can anyone tell me where in the Pixhawk code, the RC channel PIN numbers for Steering and Throttle are defined?
On my Pixhawk, they are #2 and #3 , which BTW is not what the documentation says they should be.
I have 6WD Wild Thumper chassis which is currently running well.
I want to refine the steering control to be less abrupt by metering the throttle on the inside track/wheel set.
This metering I plan to do in code in the Arduino in the motor controller but may have to change code in the Pixhawk.
I have currently set it to SKID_IN as enabled.
Thanks for any help.
Are you saying on a skid steering rover rather then have it turn on the spot you want to reduce the throttle input on the inside wheel set so the rover move’s in a curve? This is an interesting idea and could be done with a percentage parameter that defined how much throttle to apply to the inside wheel when turning.
Regarding your pixhawk channel’s its almost certainly your configuration.
- Your transmitter sticks will output on a certain channel. This is configurable on your transmitter. So you could make the right stick up/down movement happen on ANY channel.
- The RCMAP_ parameters are what your looking for. This controls which input channel its expecting to see each input on. So in your case I suspect that RCMAP_ROLL is 2 instead of the usual 1 and that the steering stick on your transmitter is outputting on channel 2.
If you still want to read the code start with
APMrover2/radio.cpp in the Rover::set_control_channels
Yes exactly for the Skid steering idea. A bit of an algorithm in the motor controller should work.
As for the Pixhawk output PINS and my RC transmitter; EUREKA!
I finally get what is going on.
The transmitter Pitch and Roll channels are 3 and 2 respectively.
A test of Yaw on channel 4 with a modified RCMAP worked exactly.
Now a happy camper.
Glad to hear its working. Video’s of rovers are always nice if you have one you could post
Well, the was/is great in Manual mode.
Now I just tried Auto mode and the Rover just spins like a top.
So, I need to research this new issue.