Those are button functions, which have an effect on outputs with related servo/output functions assigned. As an example, a servo output set to use the Lights 1 Level functionality (SERVOn_FUNCTION → RCIN9) can be affected by multiple button functions (e.g. lights1_brighter and lights1_dimmer).
Note that servo functions generally aren’t expected or intended to be set manually. The Lights Setup page allows specifying the channel to use for Lights 1 (e.g. Channel 10 for AUX2), and the numbered servo_N_* button functions can’t be reassigned (e.g. servo_3_* always applies to AUX3) - the DISABLED state for that one is correct.
I’m aware some of that documentation is challenging to find without searching, which is something I’m working on improving.
So, plugging the camera tilt servo lead into AUX 2 works when you brighten or dim the lighst - the servo moves. Plugging the tilt servo into the gripper works as well - the servo moves in response to pressing the joystick buttons to open and close the gripper.
This would indicate the AUX outputs have been succcessfully mapped to the joystick.
However, when the lights and the gripper are plugged into AUX2 and AUX3 I get no response.
When I plug the lights and gripper into a servo tester (just the ground and pwm out wires) they both work.
I am now checking the PWM MAX and MIN outputs on those servo channels.
Are you using our Lumen lights and Newton Gripper, or something custom? The control signals for both are a bit unusual, so if you’re using something else then it wouldn’t be too surprising that it’s not working as expected - if that’s the case could you describe what kind of input your components expect?
Sounds fantastic - hopefully we get to see some of the footage here!
Ahh ok, makes sense.
I don’t expect things have changed since that comment was made a couple of years ago, but I’m also not certain whether the SERVO_RATE parameter potentially applies to the AUX outputs. If not you may need to change the frequency your teensy code is expecting.
BRD_PWM_COUNT starts counting from AUX1, and I’m unsure whether MotorN outputs would override that
If it’s a problem, this could be worked around by assigning higher numbered AUX pins for the motors instead, and/or reducing BRD_PWM_COUNT as necessary
We normally control our gripper using the servo_n_* button functions, which (as discussed in my first comment) are tied to the AUX pins. As far as I’m aware ArduSub doesn’t actually use the Gripper output function so:
it may not work (e.g. it may not have any functionality implemented), and
if it does it’s not clear what outputs it would have, and even then
getting it to work probably requires sending MAV_CMD_DO_GRIPPER messages, which QGC isn’t set up to do for ArduSub
This could likely be worked around by using an alternative functionality like camera mount pan (which has some button functionalities assigned), but depending on how your gripper is intended to be controlled that may be problematic (e.g. the _momentary options are only available for the servo_n_ functions)