Control of serial telemetry thrusters

Blue Robotics Products Thrusters and Motors
1

I have some thrusters that ere controlled via a serial RS485 connection and looking where in the code to insert the serial control code instead of using the PWM outputs for the ESC controllers.

I am building with BlueOS and the new navigator board which has the additional UART ports for the serial control that I am hoping I can use for this.

Is there somewhere I can read up on the workings of the Ardusub source code and how everything is put together and the process loop etc?

2

Poke around the GitHub, here. Hopefully that yields some results.

3

Thanks. I have the source and can build it so I will have a look at how to debug this and do some stepping through to find where stuff is.