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Main/99 Work/0 OneSec/OneSecNotes/10 Projects/PX4/Direct Actuator Control from ROS2.md
Claudio 031f6004de First Commit
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.

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