[NXP CUP] How to connect wheel encoders to the FMUK66

[alexandre_saraz]

Hello,

For the needs of a project, we want to use 2 wheel encoders on our car. I would like to know if there is a way to connect the ROB-12629 wheel encoders (referenced in the list of additional components) to the RDDRONE-FMUK66 and how to read the encoder data inside the PX4 firmware?

Hardware configuration:

chassis: DFRobot ROB0165 brushless

platform: RDDRONE-FMUK66

camera: Pixy2Cam

Thank you,

Alexandre

[nxf52129]

Hey Alexandre,

You can connect the encoders to the PWM outputs in the back of the FMU. The PWM pins should be bidirectional. For programming see the PWM input example at the PX4 master: Firmware/src/drivers/pwm_input at master · PX4/Firmware · GitHub 

Regards,

Katrin

[alexandre_saraz]

Thank you for your answer Katrin.

Best regards,

Alexandre