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).