Herelink v1.1 joystick controls the Navigator Flight Controller, but there's no response in QGC

General Discussion
1

Hi,

We are using the Herelink v1.1 controller to send control signals to a system composed of a Navigator Flight Controller and a Raspberry Pi 4 acting as the onboard computer for our underwater vehicle.

The Navigator is connected via SBUS and UART ports, and we are using both QGroundControl (QGC) and Mission Planner (MP) as our ground control software.

Currently, we are able to receive sensor data from the flight controller on the Herelink, indicating that telemetry communication is working correctly.
However, when we move the joysticks on the Herelink, there is no response in the software.

QGC shows that the RC link is connected but not active—the joysticks do not register any input in the software.

Thanks.

2

Hi @XiangHong -
Welcome to the forums!

While SBUS is supported by ArduRover, as far as I know it is not supported by ArduSub - thus the lack of response you’re seeing is expected… If you’re able to use a standard bluetooth joystick, the Navigator can control the attached peripherals as desired.
Can you share how you’re using the UART port?

3

Hi,
We connected the UART port from the Herelink to the Navigator’s SERIAL port and enabled this port in QGroundControl.

Now that we’ve switched from ArduSUB to ArduCopter, we do see the remote control option in QGroundControl, and moving the sticks shows changes in the PWM signals. However, this is because the remote control was directly configured on the Navigator to send RCIN1, RCIN2, etc., directly to PWM1, PWM2, etc. (In simpler terms, the signal from pushing the stick forward is sent directly to PWM1, and pulling it back is sent directly to PWM2). The originally configured MOTOR1, MOTOR2, etc., do not respond when moving the sticks.

Which option should I select in the PWM settings so that it can properly compute and control pitch, forward, and backward movements?

Currently, the PWM output signal is not as we expected. We have adjusted the SERVO_RATE and set SERVO_DSHOT_RATE to the loop-rate, but the PWM frequency still hasn’t changed.

Thanks.