The Mobula BlueROV 4.4 RC15 (Date:18/02/2020) allows to operate up to 4 auxiliary channels on the ROV’s flight controller, PixHawk.
This requires a special base setup in QGroundControl (further called QGC).
We are working on an a Mobula design that is independent from QGC or any other ground station software.
2 Setting up QGC
Go to the QGC Camera Setup, and define Camera and Lights channels as follows:
- Camera tilt servo to Channel 10, which corresponds to AUX channel 2Figure 1 QGC: Camera Setup: Camera tilt servo
- Both Lights 1 and Lights 2 should be configured:
Lights 1: to Channel 11, which corresponds to AUX channel 3 and
Lights 2: to Channel 12, which corresponds to AUX channel 4
Figure 2 QGC: Lights 1 and 2 as Channel 11 and 12 (AUX channel 3 and 4)
Figure 3 QGC: Set up
3 Rebind keys in Mobula
To rebind keys on the joystick:
- Go to the Mobula project tree
- Browse to the Blue ROV node, and right click on the Joystick option
- Select Rebind keys
Figure 4 Mobula: Project tree with Rebind keys option
- Select a function you would like to control
- Click the box next to it to bind a key to it.
A small window pops up prompting you to press the button wished to be used for the function.
Figure 5 Channel mapping in the Rebind keys window
- Press Save after each change.
IMPORTANT: To test the buttons work correctly the ROV must be armed, otherwise lights and camera tilt are disable at the moment.
With the QGC settings described in chapter 2 you can bind 4 AUX channels (Channel 9-12).
The channel mapping as described in Figure 5.
Physical channel on Pixhawk
Key name in Mobula
Channel 9 (AUX 1)
Servo 1 (SERVO1_INC, SERVO1_DEC)
Channel 10 (AUX 2)
Servo 2 (SERVO2_INC, SERVO2_DEC)
Channel 11 (AUX 3)
Servo 3 (SERVO3_INC, SERVO3_DEC)
Channel 12 (AUX 4)
Lights (LIGHTS_UP, LIGHTS_DOWN)
Table 1 Channel mapping to buttons in Mobula
All 4 channels can control servos (camera_tilt) or lights, or other equipment controller by PWM signals.
Remember that changes made in QGC will affect how these settings in Mobula behave.
***This is just a temporary fix until a permanent, QGC independent solution is implemented in Mobula!
4 Version descriptions
Added additional comments