My simple goal is to plug a servo into the Navigator outputs - say as SERVO9 and then control it via an RC channel. For this, I have put the parameter SERVO9_FUNCTION to be 53 (so RCIN3).
But: The servo does not move!
I have tried 2 different servos, it’s the same for both.
In QGC, I have checked the RC channels and they do output what I am expecting
In BlueOS Vehicle Setup → PWM OUTPUTS I can see the Output value for Servo 9 changing as I move my RC stick.
Even the MAVLink Inspector gives me the expected value:
Could there be some other parameter that I need to set to enable RC passthrough gobally?
UPDATE: Found the issue: There is no power on the + rail of the SERVO outputs (around 0 volts from + to GND).
How could this be?
How do I fix this?
Update 2: As written in the Navigator Hardware Setup, I need to supply power to the AUX power input to power the servo rail. I think this should be explicitly stated in the BlueBoat documentation: It is not really obvious you have to study the Hardware setup guide of the navigator, since the navigator comes already assembled and set-up with the BlueBoat.
Hi @jobotics -
Are you using a RC transmitter plugged into the Navigator? If not, you could control the output with a cockpit button as described here. There is also some useful information here.
Good catch on powering the servo rail - that isn’t done in the BlueBoat by default, but is on the BlueROV2! This is because no servos are used by the BlueBoat by default, and so sizing your own power supply for the number and type of outputs you need to power is left to the user!
I am using an RC transmitter plugged into the navigator, yes. But thanks for the additional info.
What I’d like to do next is to be able to programmatically control the servo on a waypoint mission (I gather there are at least 2 routes for that – MAVlink commands and a Lua script).
However, I have one question about that: Is it possible to setup the Servo in a way that it can be controlled programatically and still have it controlled with the RC? (e.g. in an emergency situation)
Hi @jobotics, glad you managed to solve your issue
This is probably better discussed in its own thread, but yes, those are both possibilities. MAVLink commands allow for relatively straightforward control at waypoints, with simple setup. Lua scripts allow more advanced control options but require additional setup and consideration to get working as desired.
If you’re controlling the servo with a Lua script then that script could monitor the relevant RC input and yield control to it while (or if it switches to) a non-neutral value?
