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HAL_PX4: auto-scale brushed output with ESC output range

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This commit is contained in:
Andrew Tridgell 2016-11-30 10:21:48 +11:00
parent e25b7e13e6
commit ce5ed66b45
1 changed files with 9 additions and 5 deletions
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14
libraries/AP_HAL_PX4/RCOutput.cpp
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@ -327,13 +327,17 @@ void PX4RCOutput::write(uint8_t ch, uint16_t period_us)
}
if (_output_mode == MODE_PWM_BRUSHED16KHZ) {
// map form 1000 to 2000 onto zero to 100% duty cycle
if (period_us <= 1000) {
// map from the PWM range to 0 t0 100% duty cycle. For 16kHz
// this ends up being 0 to 500 pulse width in units of
// 125usec.
const uint32_t period_max = 1000000UL/(16000/8);
if (period_us <= _esc_pwm_min) {
period_us = 0;
} else if (period_us >= 2000) {
period_us = 500;
} else if (period_us >= _esc_pwm_max) {
period_us = period_max;
} else {
period_us = (period_us - 1000)/2;
uint32_t pdiff = period_us - _esc_pwm_min;
period_us = pdiff*period_max/(_esc_pwm_max - _esc_pwm_min);
}
}