DakeFPV H743 on quad AND servo output

[samsab1]

This concerns the FC DakeFPV H743 flight controller and its PWM servo outputs. I need three servo outputs to control a Caddx GM1 gimbal, which works perfectly with an ELRS receiver with PWM output.

I've defined the servo mixers and assigned each one to a transmitter channel. I can see in the "OUTPUT" tab that the outputs are active and respond to transmitter commands; however, the gimbal remains perfectly still after initial power-up. I suspect, though I'm not certain, that it's a matter of mapping or assigning the servo outputs. Perhaps an incorrect protocol is being used for these three servo outputs?
The Dshoot300 is used for the motors of this quadcopter, M1 to M4.

Who could advise me and help me resolve this issue?

[sensei-hacker]

Three things:

I suspect you are correct, the main problem is probably how you have your mixer set up. If we had a screenshot of your mixer, we could confirm that. Without having any idea what you put in your mixer or how you have things wired or anything else, we can't really point to the error, without being able to see anything that you have set up.

You said you have a GM1 gimbal, and said you're using THREE servo outputs. If you have a GM1, that's a one axis gimbal and should be connected to one output.

If you actually have a GM3 rather than a GM1, you could use three servo outputs. Or just use one uart.

[samsab1]

I will try to reply to you today with screenshots, but this GM1 gimbal, which only works on one axis , requires three PWM inputs to be fully utilized in order to select the desired operating mode, sensitivity, and manual pitch adjustment.

[sensei-hacker]

Okay, that makes sense!

[samsab1]

NOWAY......impossible to find a solution to get those 3 servo output alive

[samsab1]

DIFF ALL CLI
diff all

version

INAV/DAKEFPVH743 9.0.1 Feb 13 2026 / 06:50:43 (d44f2cf)

GCC-13.2.1 20231009

start the command batch

batch start

reset configuration to default settings

defaults noreboot

resources

Timer overrides

timer_output_mode 3 SERVOS

Outputs [servo]

safehome

Fixed Wing Approach

geozone

geozone 0 1 0 50 100 0 1 4
geozone 1 1 0 60 100 0 0 4

geozone vertices

geozone vertex 0 0 447740705 47923964
geozone vertex 0 1 447744791 47930307
geozone vertex 0 2 447747573 47923514
geozone vertex 0 3 447744439 47919291
geozone vertex 1 0 447747836 47938118
geozone vertex 1 1 447744983 47947940
geozone vertex 1 2 447746626 47949343
geozone vertex 1 3 447749387 47939703

features

feature -LED_STRIP
feature GEOZONE
feature PWM_OUTPUT_ENABLE

beeper

blackbox

blackbox -NAV_ACC
blackbox NAV_POS
blackbox NAV_PID
blackbox MAG
blackbox ACC
blackbox ATTI
blackbox RC_DATA
blackbox RC_COMMAND
blackbox MOTORS
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y
blackbox SERVOS

Receiver: Channel map

Ports

serial 1 33554432 115200 115200 0 115200

LEDs

LED color

LED mode_color

Modes [aux]

aux 0 0 0 1700 2100
aux 1 2 2 1700 2100
aux 2 11 3 900 1300
aux 3 10 1 1700 2100
aux 4 13 7 1700 2100

Adjustments [adjrange]

Receiver rxrange

temp_sensor

Mission Control Waypoints [wp]

#wp 0 invalid

OSD [osd_layout]

osd_layout 0 0 45 15 V
osd_layout 0 1 46 10 V
osd_layout 0 2 0 0 V
osd_layout 0 7 5 12 V
osd_layout 0 8 41 0 V
osd_layout 0 9 4 10 V
osd_layout 0 11 46 11 V
osd_layout 0 12 46 12 V
osd_layout 0 13 20 11 V
osd_layout 0 14 6 16 V
osd_layout 0 15 24 11 V
osd_layout 0 19 46 13 V
osd_layout 0 20 1 3 V
osd_layout 0 21 1 2 V
osd_layout 0 22 23 14 V
osd_layout 0 23 24 14 V
osd_layout 0 24 4 9 V
osd_layout 0 25 18 8 H
osd_layout 0 26 30 11 V
osd_layout 0 28 13 16 V
osd_layout 0 30 12 17 V
osd_layout 0 32 42 8 H
osd_layout 0 33 51 9 H
osd_layout 0 34 24 2 H
osd_layout 0 38 46 9 V
osd_layout 0 40 12 14 V
osd_layout 0 55 42 14 H
osd_layout 0 97 1 14 H
osd_layout 0 100 4 8 V
osd_layout 0 105 32 3 H
osd_layout 0 110 41 16 V
osd_layout 0 112 39 15 V
osd_layout 0 120 2 10 H
osd_layout 0 125 5 14 V
osd_layout 0 141 11 5 H
osd_layout 0 144 4 5 H
osd_layout 0 145 36 10 H
osd_layout 1 15 42 7 V

Programming: logic

Programming: global variables

Programming: PID controllers

OSD: custom elements

master

set gyro_main_lpf_hz = 90
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 60
set dynamic_gyro_notch_mode = 3D
set setpoint_kalman_q = 200
set gyro_zero_x = 2
set gyro_zero_y = -7
set gyro_zero_z = -3
set ins_gravity_cmss = 985.746
set acc_hardware = ICM42605
set acczero_x = -1
set acczero_y = 32
set acczero_z = -14
set accgain_x = 4034
set accgain_y = 3839
set accgain_z = 4093
set align_mag = CW270FLIP
set mag_hardware = QMC5883
set magzero_x = -808
set magzero_y = 2240
set magzero_z = -52
set maggain_x = 1327
set maggain_y = 1398
set maggain_z = 1283
set align_mag_pitch = 1800
set baro_hardware = DPS310
set blackbox_rate_denom = 2
set motor_pwm_protocol = DSHOT300
set failsafe_procedure = RTH
set applied_defaults = 5
set gps_ublox_use_galileo = ON
set gps_ublox_use_glonass = ON
set airmode_type = THROTTLE_THRESHOLD
set nav_max_altitude = 15000
set nav_rth_altitude = 5000
set safehome_max_distance = 4000
set osd_video_system = AVATAR
set osd_decimals_distance = 4
set name = KWAD 7 O4
set geozone_avoid_altitude_range = 6000
set geozone_mr_stop_distance = 5000

control_profile

control_profile 1

set mc_p_pitch = 44
set mc_i_pitch = 82
set mc_d_pitch = 29
set mc_cd_pitch = 110
set mc_i_roll = 75
set mc_d_roll = 26
set mc_cd_roll = 100
set mc_p_yaw = 45
set mc_i_yaw = 80
set mc_cd_yaw = 100
set dterm_lpf_hz = 85
set mc_iterm_relax = RPY
set d_boost_min = 1.000
set d_boost_max = 1.200
set antigravity_gain = 2.000
set antigravity_accelerator = 5.000
set smith_predictor_delay = 1.768
set tpa_rate = 20
set tpa_breakpoint = 1200
set rc_expo = 80
set rc_yaw_expo = 80
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60
set ez_enabled = ON
set ez_filter_hz = 90
set ez_response = 101
set ez_damping = 115
set ez_rate = 134
set ez_expo = 118

control_profile

control_profile 2

set mc_iterm_relax = RPY
set d_boost_min = 0.800
set d_boost_max = 1.200
set antigravity_gain = 2.000
set antigravity_accelerator = 5.000
set tpa_rate = 20
set tpa_breakpoint = 1200

control_profile

control_profile 3

set mc_iterm_relax = RPY
set d_boost_min = 0.800
set d_boost_max = 1.200
set antigravity_gain = 2.000
set antigravity_accelerator = 5.000
set tpa_rate = 20
set tpa_breakpoint = 1200

mixer_profile

mixer_profile 1

set model_preview_type = 3
set motorstop_on_low = OFF

Mixer: motor mixer

mmix reset

mmix 0 1.000 -1.000 1.000 -1.000
mmix 1 1.000 -1.000 -1.000 1.000
mmix 2 1.000 1.000 1.000 1.000
mmix 3 1.000 1.000 -1.000 -1.000

Mixer: servo mixer

smix reset

smix 0 1 15 100 0 -1
smix 1 2 16 100 0 -1
smix 2 3 17 100 0 -1

mixer_profile

mixer_profile 2

Mixer: motor mixer

Mixer: servo mixer

battery_profile

battery_profile 1

battery_profile

battery_profile 2

battery_profile

battery_profile 3

restore original profile selection

control_profile 1
mixer_profile 1
battery_profile 1

save configuration

save

[samsab1]

get servo

servo_protocol = PWM
Allowed values: PWM, SBUS, SBUS_PWM

servo_center_pulse = 1500
Allowed range: 1000 - 2000

servo_pwm_rate = 50
Allowed range: 50 - 498

servo_lpf_hz = 20
Allowed range: 0 - 400

tri_unarmed_servo = ON
Allowed values: OFF, ON

servo_autotrim_rotation_limit = 15
Allowed range: 1 - 60

osd_pan_servo_index = 0
Allowed range: 0 - 16

osd_pan_servo_range_decadegrees = 0
Allowed range: -36 - 36

osd_pan_servo_offcentre_warning = 10
Allowed range: 0 - 45

osd_pan_servo_indicator_show_degrees = OFF
Allowed values: OFF, ON

[sensei-hacker]

I notice two things. First, note there is a DakeFPV H743 and a DakeFPV H743 PRO .
You might double-check the silkscreen label on your board to verify which it is, as they have different firmware.

Secondly, while this flight controller has 12 outputs, on the hardware they aren't labeled 1-12. Rather, the labels run M1-M8 and S1-S4. So the ninth output is labeled 1.
With your configuration, you have the gimbal ("servos") on M5-M7.

[samsab1]

thanks for your answer, h743 is NOT pro, only H743. can you explain where, and how, you identify that M5 to M7 are used instead of servo output?

[sensei-hacker]

"M5" through "M8" are servo output, as it's currently configured.
In your screenshot above, we can see the twelve outputs:

You are using motors on the first four outputs (signal 1-4), and servos on the next four (signal 5-8), and the last four (signal 9-12) are empty.

If someone were making a VTOL, they might have motors in 1-4 and servos on 5-10.
If someone had a hexacopter, they might have motors in 1-8 and servos on 9-12, or now servos.

For some reason, for the ink on the board, instead of labeling them 1-12 they labeled them 1-8 then 1-4 again.
So a VTOL user might have motors on "M1" - "M4" and servos on "M5" through "M8" and on "S1" and "S2". That makes things a bit confusing, doesn't it.

You can use the "timer outputs" section near the top of the screenshot here to force certain groups to be used for servos or for motors if you want to. The default, auto, is we use outputs in order from lowest to highest; motors first and then servos.

[samsab1]

So, if I understand you correctly, with the setup as you see above, the servo outputs are on the four theoretical motor outputs: M5, M6, M7, and M8. My three servos would therefore be M5, M6, and M7, period.

So that's why it wasn't working, since I wasn't physically connecting to the M5, M6, and M7 terminals.

I'll go try it and get back to you. Thank you for your patience; sometimes things are so obvious that we don't see them.

[sensei-hacker]

Yep, the image shows them on the fifth sixth, and seventh outputs.

Which as you can see, can be used for motors, servos, a gimbal, whatever you want.