Brice,
I suspect the confusion is coming from a mixup in understanding between inputs and outputs. Older version of the Rover firmware didn’t have the two concepts completely separated so it led to some confusion.
I’m sure you’ve already seen these wiki pages but just in case:
- The setup for servo outputs for a skid steering vehicle are here.
- The setup for two paddle input is here.
The two things are quite separate. So it is possible to control a skid-steering vehicle with a single stick (one axis controls steering, the other throttle) and conversely it’s possible to control a regular vehicle with a two-paddle input.
Probably the best thing to do is:
- set PILOT_STEER_TYPE back to the default of 0 (meaning use a single stick to control steering and throttle) and I suspect it will start to work.
- double check the SERVO1_FUNCTION and SERVO3_FUNCTION parameter values and ensure they match what’s on the wiki here.
- use MP’s motor test page to test that the left and right wheels are moving forward when the “Test Motor C” and “Test Motor D” buttons are pushed respectively.
Hope that helps and thanks for upgrading. I suspect you’ll hit some other issues including tuning but hopefully the final performance will be better than the older firmware could do.