Configuring Outputs

The Pixhawk has 14 servo output channels which are configured via the SERVOn_* parameters and the BRD_PWM_COUNT parameter.

Pixhawk Label Servo Channel
Main 1 1
Main 2 2
Main 3 3
Main 4 4
Main 5 5
Main 6 6
Main 7 7
Main 8 8
Aux 1 9
Aux 2 10
Aux 3 11
Aux 4 12
Aux 5 13
Aux 6 14

The Pixhawk has 6 'auxiliary' outputs that can be configured as either general purpose input/output or PWM output.

The auxiliary pins are configured at boot according to the BRD_PWM_COUNT parameter.

BRD_PWM_COUNT Aux pin configuration
1 2 3 4 5 6
0 GPIO GPIO GPIO GPIO GPIO GPIO
2 PWM PWM GPIO GPIO GPIO GPIO
(default) 4 PWM PWM PWM PWM GPIO GPIO
6 PWM PWM PWM PWM PWM PWM

Controlling Servos

An output must be configured as PWM via the BRD_PWM_COUNT parameter to operate a servo.

The servos can be operated via the mavlink command DO_SET_SERVO. This command can be used to set the output of any servo channel that is not configured as a motor output. This command can conflict with other functions operating on the servo channel like pan/tilt mounts or lights. In order to avoid conflicts, the corresponding SERVOn_FUNCTION parameter should be set to Disabled (0).

Up to three servos can also be operated via joystick button functions. The joystick button functions for *_servo_n will control the output on the Aux n pin (these cannot be remapped like the relay outputs).

Joystick button function Aux channel operated
servo_1 Aux 1
servo_2 Aux 2
servo_3 Aux 3

Controlling Relays

ArduSub supports control of up to 4 relays. An output must be configured as GPIO via the BRD_PWM_COUNT parameter to operate a relay. The output pin must also be selected for the corresponding RELAY_PIN parameter.

The relays can be operated via the mavlink command DO_SET_RELAY.

Up to three relays can also be operated via joystick button functions.

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