Pixhawk 6C support/Depth Sensor connections

[EliotBR (Eliot)]

Hi @ntrinite, welcome to the forum

We haven’t validated the Pixhawk 6C with ArduSub, so it’s possible there will be issues with trying to use it. From previous posts about getting the Pixhawk 4 working, you may need to change the BARO_EXT_BUS parameter for the barometer to be detected (maybe to 0? I’m not sure). I suspect there may also be issues if you try to set up a leak detector, since the FMUv6C board is not explicitly handled in the leak detector library.

@ntrinite

… we also would like to use the BRD_PWM_COUNT which is not a part of the parameters as of current.

@EliotBR

Historically BRD_PWM_COUNT has been the way to configure which pins are PWM vs GPIO, across ArduPilot. Seems like last year there were some changes to increase flexibility, so more recent firmwares just require setting the relevant SERVOn_FUNCTION to Disabled (-1), or alternatively using the new SERVO_GPIO_MASK parameter