Single thruster control

[zjuuuuuu]

I want to control the single thruster by sending the MAV_CMD_DO_SET_SERVO command via MAVLink. I called the following function. The program compiles correctly but the propeller does not respond.

[patrickelectric]

Sending MAVProxy messages from a python program?

You can not put a setpoint on motor channels. Only non-motor channels are allowed with this command. It’s not supported. Use SET_MODE. An enumeration is a list of possible options, states, related things. The mavlink message spec will tell you when the items from a particular enumeration are to be used as a parameter to the command.

[zjuuuuuu]

Thank you.
And how to change the PWM of single thruster ( which cammand and code ) ?

[patrickelectric]

That’s not possible right now. You can send only simple commands to test the motor, as you can see in Software Updates 8 May 2018.
If it’s possible for your application, you could use the manual control.

[jwalser]

@zjuuuuuu, @patrickelectric is correct, this is not possible right now. It is a sad shortcoming I think.

Check here:

Issue: Add support for setting individual motor pwm directly via MAVLINK

And check here:

ROS support for BlueROV2

@brandonk Those topics will only work for outputs that are not configured as motors. There is no way to set pwm to thrusters directly via ROS. You may only set the desired roll/pitch/yaw and forward/up/down. You can check and see when we will fix this here: https://github.com/bluerobotics/ardusub/issues/166 There is a hack you could do and use the MOTOR_TEST command via mavlink. The command is meant to be used for motor testing, but the logic is almost the same. This will require a pretty hig…