Autonomous Quadcopter simultanious PWM and MSP commands as the RC input


New member
Hi All,

I am trying to implement an autonomous with my Quadcopter using a Raspberry Pi sending MSP commands as the RC input via USB to the flight controller. This will perform functions as altitude hold and moving via distance sensor inputs.

When running in certain modes some axes are still controlled by a radio transmitter, and above all I would like an arm/disarm function activated from the transmitter routed directly to the flight controller as a safety feature in case the computer control goes berserk.

The problem is that I cannot get the flight controller to accept a mix of MSP(via USB) and PWM inputs as commands. I am using Baseflight and gear as following;

FC: Naze32
Receiver: Spectrum AR-610 6CH

Is there any mode or setting allowing this?



Eternal Student
Interesting setup... I believe that this should be possible, as GPS + RC link control is possible at the same time. I'm not sure about running through USB though, I know that GPS modules connect to the FC via a UART directly, bypassing the USB bridge.

Definitely not an expert, I know nothing about Raspberry Pi, but curious how it works out.