[Hardware] Test PWM Output using joystick Input

[renzodamgo]

Prerequisites

• Flight Controller (Flight Controller H743-WING)
• Laptop with Ros2 Humble

Check if PWM outputs work correctly when using a joystick for manual control. We need to make sure the PWM values and directions change properly based on joystick movements.

When flying in manual mode, we need to confirm:

• PWM signals change when we move the joystick
  

• Moving the joystick left/right/up/down changes PWM in the right way 
  

• The voltage from the joystick correctly changes the PWM signals
  

Acceptance Criteria

• PWM outputs go up/down as the joystick moves
• Centered joystick gives neutral PWM values
• Changing direction on joystick changes PWM signals right away
• All controls (up/down, left/right, turning, speed) work on their own

[renzodamgo]

Joystick teleport draft:

[renzodamgo]

Used ardupilot documentation to set up the paremeters.

Meeting with electronics team 24/04/2025

Participants:

• Thomas
• Maninee
• Renzo

We tested 2 motors successfully and we were able to send signals using mission planner but not with the joystick.

Notes:

• We had to use Throttle instead of ThrottleLeft and ThrottleRight because we had unidirectional ESC and when throttleLeft or throttleRight the default output was in the middle 1500 so the motors were at a 50% by default.
• When using Bidirectional ESC the 1500 output should not move the motors, and if it goes to 0 or 3000 it should change directions.
• We stopped testing bcs mission planner crashed all the time on Mac and we were not able to change the params again.

Follow through:

• Buy bidirectional ESC
• Test 4 motors, 2 per each side
• Use ThrottleLeft and throttleRight params
• Test again with MAVROS and the joystick