Servo allocation

Blue Robotics Software
1

Hi, im running a navigator. I have a custom tool plugged into servo 15 but cant find how to allocate a button to it. Its a thruster which ive modded, need it to allocate one button to full foward and another full reverse.

Also is there any port the depth sensor needs to be plugged into? Keep getting an error.

2

Hi @submerged,

Are you talking joystick buttons or Cockpit on-screen buttons?

The depth sensors we sell all use I2C for communication, so assuming it’s one of those it will need to be plugged into an I2C port on your flight controller board.

It’s hard to provide much insight without further context, but that’s better placed in its own thread (e.g. in one of the relevant existing ones) to keep this thread about your main question.

3

Hi Eliot,

Cheers for the info, as you can tell im not that tech savy, learning as i go.

Re the servo config, ive got an xbox controller, want to allocate the flaps to this servo, which is a thruster full fwd/full reverse. Ive had it running a few years ago and found the servo port that i had the esc plugged into on the qground easy and allocated the button but this time i cant find where the servo.

Any pointers on how to locate it?

Re the depth sensor, it is the blue rov unit and ive plugged it into the port youve said, is there any i need to do or should just work?

Im back out at work so wont be able to sort anything for another month yet but appriate the help.

4

You already mentioned it’s plugged into servo 15, so I’m not sure what you’re asking here.

  1. Assuming you’re using the latest stable firmware (ArduSub 4.5.6) you should be able to assign the SERVO15_FUNCTION parameter to Actuator1
    • “Output 15” on the BlueOS PWM Outputs page controls that parameter
    • You can set the value to 184 as a custom value, if the name doesn’t appear as an option in your parameter editor
  2. From there you can control it via actuator_1_min/max (63/64) or actuator_1_min/max_momentary (76/77) joystick button functions
    • Those button functions may be called servo_1_* instead of actuator_1_* in older control station software
  3. If that’s not working, you’ll need to check your wiring and other configuration parameters for that output
    • Make sure your SERVO15_MIN and SERVO15_MAX parameters are set appropriately for your output
      • e.g. if you’re using one of our ESCs, they should be set to 1100 and 1900 respectively
    • You can see the PWM pulse-durations that the autopilot is intending to output either on the PWM Outputs page in BlueOS, or by checking the SERVO_OUTPUT_RAW/servoN_raw MAVLink message field
      • If the intended output is correct but your device is not working then there’s some kind of hardware issue - possibly the device is not being suitably powered, or it’s not receiving the signal (either because there’s a problem with the wire/connection, or the flight controller board’s output pin is fried)
    • For tools that are intended to be powered through the Navigator’s servo rail, it’s also important to supply that power via the AUX 5V pins
      • This is not relevant when your device is a thruster

By default it should just work. You can confirm that the MS5837 bit is set in your BARO_PROBE_EXT parameter, but that should already be enabled by default.

If the sensor is not being detected then I’d recommend submitting a product problem request, and getting that sorted out via our support team.

5

Hi Eliot,

I cant see the servo 15 on the list, from memory there wasnt many servos listed, in the qground set up.

6

Hi @submerged -
You can make the edits to those parameters not in QGC, but BlueOS, under Autopilot Parameters… or in the case of PWM outputs, under Vehicle Setup as well!

7

Ok, ill have a look. (Trouble being, im away for anotber 3 weeks for work, dammit)

Thanks