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Claudio
2024-12-02 15:11:30 +01:00
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We want to do this in order to control a peripheral actuator such as a winch or a payloadbay.
# PX4 v1.13 and below
At the time of writing we use a modified version of the PX4 v1.13.3, which still uses the (now deprecated) mixing system to allocate control to the different actuators. Unfortunately this makes it quite cumbersome to control. I added a hack to the system, by using the [[Mavlink]] messagePWM
# PX4 v1.14 and above
The new tight [[ROS2]] integration will allow to control peripheral actuators as explained in [this video](https://youtu.be/3zRCIsq_MCE?t=1020).