Writing this down, since APM 2.6 is outdated, and can only use old Ardupilot v3.2.1 firmware, documentation for which is partially lost.
APMPlanner that works best with this firmware is v2.0.42 (i.e. also not the newest one).
Say, you needed to connect PWM-controlled device (such as MinimOSD) to be reading PWM signal from receiver. But receiver is connected it CPPM mode to APM 2.6. What is the solution?
You can use channels 6-8 (just because APM 2.6 uses channels 1-5 already) of the receiver by reading them via APM 2.6 outputs 6-8.
Just needed to make sure sure that outputs are in correct mode, the variables to check are:
- CH6_FUNCTION
- CH7_FUNCTION
- CH8_FUNCTION
They need to have value of 1, which means RCPassThru. Some other possible values are mentioned here (and the variables were renamed to SERVOn_FUNCTION), but I’m not sure which of the other values are supported in our old APM.
Perhaps this oldest version of the page is more relevant. It shows these values are supported (and there’s more explanations on the page):
- Disabled=0
- RCPassThru=1
- Flap=2
- Flap_auto=3
- Aileron=4
- mount_pan=6
- mount_tilt=7
- mount_roll=8
- camera_trigger=10
- mount2_pan=12
- mount2_tilt=13
- mount2_roll=14
- DifferentialSpoiler1=16
- DifferentialSpoiler2=17
- AileronWithInput=18
- Elevator=19
- ElevatorWithInput=20
- Rudder=21
- Flaperon1=24
- Flaperon2=25
- GroundSteering=26
Artem's blog 