What is the difference between Throttle and Forward here? http://www.ardusub.com/operators-manual/rc-input-and-output.html

Hi @rdehart , Here, Throttle means Up/Down.

So with Mavlink, when do we use arm vs arm throttle?

The reason I am asking is I would like to send manual PWM commands to the individual motors. I see that OverrideRCIn in mavlink allows for forward or lateral which means pairs of motors are given commands. Is there a way to send individual motors commands?

It looks like I can use DO_SET_SERVO in Mavlink, but I dont have a mapping of which servo is which

Nevermind, it looks like it is here: Initial Setup Documentation for ArduSub. But could you confirm I could send manual signals to these via Mavlink?

Can you tell me if you succeed to send through override ? I’m using mavros and I was forbidden to send through override and using servo command :(.

Im trying to run ROS and talk to each motor individually. It seems that mavros and OverrideRCIn only allow commands to pairs of motors (up, down, left right, but not individuals to do diagonals or rolls). Im not 100% sure about that though.

According to this: [image] Sending MAVProxy messages from a python program? Blue Robotics Software Note that you are only allowed to control the PWM output of channels that are not assigned any function. (You cannot control the motor outputs individually). I cant do …

So you need to use the cmd_vel then for your case. I got other channels unassigned that I could use.

Please elaborate. Did you put the ESC connections to the unused PWM connections on the PixHawk to bypass the restriction? I do not see the cmd_vel Mavlink message.

Throttle vs Forward Channel

Blue Robotics Software

rdehart (Roddy) February 13, 2020, 1:13am 9

According to this:

I cant do it to the motors.

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