Hello,
I have a question about connection of bluerobotics leak sensor (https://bluerobotics.com/store/sensors-sonars-cameras/leak-sensor/sos-leak-sensor/) and pixhawk4 with ardusub software.
In QGC software there are options to choose leak sensor pin (AUX1-6, 3.3ADC1-2, 6.6ADC), but i couldn’t fine any AUX named channels in pixhawk4. Could any1 tell where should i connect leak sensor for proper work?
Thanks in advance.
Hi Alex,
ArduSub only officially supports the Pixhawk 1 hardware, and that’s the only platform Blue Robotics has tested and used extensively.
From the Pixhawk 4 documentation, the FMU PWM OUT pins are considered to be AUX outputs (see number 17), so I’d say those are your best bet, but I can’t provide any guarantees.
Hope you can get it working! 
Hello, I am also using Pixhawk 4 and all the connections regarding servos and auxiliary devices are made on the PM07 power distribution board. I have tried with the PWMout ports, but whatever I choose, from Ardusub , it does not receive the signal from the leak sensor. ANy help or updates on this? I have tested the sensor with arduino, and the signal is confirmed. Any one used pm07 board?
Leak detector support was added to Pixhawk 4 a few months after this post was made. I’ve just checked and it should be available in the latest ArduSub 4.1 (stable) and 4.5 (beta) releases.
I haven’t tested with that, but if you’re connecting FMU PWM OUT correctly then the Leak Detector should work to plug into the relevant pin of the FMU PWM OUT header on the PM07 board.
It may help if you show how you’ve connected your leak sensor, and how you’ve configured the ArduSub parameters. As an example, if you have the sensor connected to AUX 6 then I believe you should have LEAK1_PIN=Pixhawk Aux6, and SERVO14_FUNCTION=Disabled (8 main + 6 aux = pin 14).