How I can added a sumergible servo and controlarlo from the joystik or from the Qground control? Which configuration I have to do in Qground control?
If you’re using one of our supported servos, or one that is controllable via a standard servo-style PWM signal (where the pulse-duration sets the desired speed or angle) then you should be able to connect it to one of the servo rail outputs on your flight controller board.
ArduSub currently has convenient servo control functions set up for outputs 9, 10, and 11 (AUX 1, 2, 3 on a Pixhawk), which correspond to the
servo_3_* joystick button functions, and you can configure the PWM limits using the
SERVOn_* parameters. Alternatively it’s also possible to configure an arbitrary servo output as one of the camera gimbal or lights outputs.