Actuators (PWM)¶

A generic PWM-controlled device can be added by connecting it to a pin on the autopilot’s servo rail for use as a button-controlled function, and assigning that pin’s SERVOx_FUNCTION parameter as one of Actuator 1..6 as desired. Limits and direction are configured using the pin’s SERVOx_MIN/MAX/REVERSED parameters.

Joystick/Gamepad Control¶

Actuator outputs can be controlled using the actuator_n_* Button Functions, with options for:

Actuator Button Functions¶
Function	Description
`actuator_n_min`	Set the servo output channel assigned to Actuator N to its minimum value
`actuator_n_max`	Set the servo output channel assigned to Actuator N to its maximum value
`actuator_n_center`	Set the servo output channel assigned to Actuator N to its center value
`actuator_n_inc`	Increase Actuator N by the `ACTUATORn_INC` parameter value
`actuator_n_dec`	Decrease Actuator N by the `ACTUATORn_INC` parameter value
`actuator_n_min_momentary`	Set Actuator N to its minimum value while the button is held, then to its center value on release
`actuator_n_max_momentary`	Set Actuator N to its maximum value while the button is held, then to its center value on release
`actuator_n_min_toggle`	Toggle Actuator N between its minimum and center values
`actuator_n_max_toggle`	Toggle Actuator N between its maximum and center values

Programmatic Control¶

Support for MAVLink-based control (via MAV_CMD_DO_SET_ACTUATOR) is underway, but not yet available.

Lua script control is not supported.