Motor Enable Switch Servo Output for all Vehicles

[mhornsby]

If there was a previous discussion in the forum, link to it

Feature request

Motor Enable Switch Servo output is only for copter and quadplane. It seems a pretty harmless function. But also one that could be used on other vehicles

Motor Enable Switch¶
This provides an output that reflects the ARM/DISARM state of the vehicle to control a motor enable/kill switch. When ARMED, it is at SERVOx_MAX pwm, and at SERVOx_MIN pwm when disarmed.

Is your feature request related to a problem? Please describe.
I’m using CH5 to arm/disarm my Rover but also using it to switch a relay that powers the Rover motors by setting Servo 5 output to RCIN5. However what I would really like is Servo 5 to be the arm/disarm status of the Rover . This would allow failsafes that disarm the Rover to also turn off my Relay without using Lua

Describe the solution you'd like
A clear and concise description of what you want to happen.

Describe alternatives you've considered
Lua

Platform
[ X] All
[ ] AntennaTracker
[ ] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

[IamPete1]

Why noy lua scripting?

[mhornsby]

My question is why lua for a rover and not copter But also a system parameter in my view is a much more transparent and easier to maintain. A script is hidden away in the background, has more of a potential of failure e.g. user errors, coding errors etc than something baked into the core. From what I undertstand from the forum we're talking about a single If statement. On 12 Feb 2026, at 3:42 am, Peter Hall ***@***.***> wrote:  [https://avatars.githubusercontent.com/u/33176108?s=20&v=4]IamPete1 left a comment (ArduPilot/ardupilot#32172)<#32172 (comment)> Why noy lua scripting? — Reply to this email directly, view it on GitHub<#32172 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/AEL7I3UANA2W2W4DUE4LAI34LNLYBAVCNFSM6AAAAACUW44UTKVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZTQOBVGU3DONBUGM>. You are receiving this because you authored the thread.Message ID: ***@***.***>

[peterbarker]

This is a request for arm status on a servo output, which we already have a PR for.

I don't think it's really option 30 there - which is actually just a turbine heli thing.....

[LuciferK47]

Hey @peterbarker, could you link the existing PR you're referring to? Would be good to know whether it covers Rover specifically or if that still needs to be added, since that's the core of what @mhornsby is after.

[peterbarker]

Hey @peterbarker, could you link the existing PR you're referring to? Would be good to know whether it covers Rover specifically or if that still needs to be added, since that's the core of what @mhornsby is after.

#14705