Using copter on Linux to use/add direct PWM control via GPIO


I’ve successfully built copter in several configurations (linux and sitl) on my linux install on a Raspberry pi (4b).

I’d like to give ardupilot direct PWM control of four HW30 ESCs via GPIO.

Is there already a profile that does this?
If not, what would be the best way to build ardupilot to start work on adding it?

Thanks :slight_smile:

EDIT: Looks like GPIO access is popular enough to make the most frequently used hal functions in the dev guide :slight_smile: :
hal.gpio->pinMode(), hal.gpio->read() and hal.gpio->write() for accessing GPIO pins

Narrowing my question down to “do we already implement a PWM implementation somewhere in the codebase?”…