Skid steer help?

ArduRover
22

Check your MOT_PWM_TYPE
If you’re using a brushed motors, you can follow this and make it work:

https://ardupilot.org/rover/docs/common-brushed-motors.html

What drivers are you using?

23

If you’re using:

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image926×770 164 KB

And you have drivers * “Brushed With Relay” is for brushed motor drivers that use a relay pin to indicate whether it should rotate forwards or backwards. Like:

You have to set first
For “Skid steering” vehicles (like R2D2) these parameters values will need to be set:

SERVO1_FUNCTION = 73 (Throttle Left)
SERVO3_FUNCTION = 74 (Throttle Right)

And then
Set MOT_PWM_TYPE = 3 for “BrushedWithRelay”

If you don’t have present safety switch, by default the autopilot set 1 this prearm check, that’s why you will not have any PWM output, so set * BRD_SAFETYENABLE = 0 to disable the switch

In order to to a bench test you can also:
The pre-arm checks can be partially or completely disabled by setting the ARMING_CHECK parameter. The default of 1 means all checks are enabled. If set to 0 all checks are disabled. Ground Stations including the mission planner also allow disabling individual checks.

24

Please, could you send your parameters of a working system configured as skid steering?

25

I had this problem. I got to the point where setting servo1 and servo2 to RCPASSTHROUGH worked, but I could not get skid steering working. For those still having this problem after following everything above, verify the following:

  • Set servo1 to thrustleft
  • Set servo2 to thrustright
  • Make sure you can complete the motor test (testing motor C should make your servo1 motor work and testing motor D should make your servo2 motor work)

What fixed it for me:

  • Check the “FailSafe” tab under MandatoryHardware

  • In the top right, it should say:
    MANUAL
    ARMED

  • Mine said:
    HOLD
    DISARMED

  • To change DISARMED->ARMED, follow the steps others listed above to turn off safety and arming parameters

  • To change HOLD->MANUAL, I assigned my RC16_OPTION parameter to “MANUAL”. My rc16 channel is controlled by the hatslider on a joystick I am using have. By pushing up on the hatslider it switches my mode from HOLD to MANUAL. This is sort of a workaround on the FlightModes from what I understand. Technically I probably should assign a switch to flightmodes somehow, but this works well enough for me for now.