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px4-firmware
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support up to PWM 14 

- generate PWM_MAIN 1-14
 - generate PWM_AUX 1-8
 - generate PWM_EXTRA 1-8
 - px4io and pwm_out directly read configuration parameters
    - only available and active physical outputs are actually shown for configuration
 - overall saves flash despite adding many new parameters
This commit is contained in:
Daniel Agar 2021-01-21 20:18:29 -05:00 committed by Lorenz Meier
parent cdd6df4e27
commit 318c7e83b3
28 changed files with 869 additions and 2812 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
View File

@ -21,8 +21,6 @@ if [ $AUTOCNF = yes ]
then
param set CBRK_IO_SAFETY 22027
param set FAILSAFE 100
param set MC_ROLL_P 2.2
param set MC_ROLLRATE_P 0.06
param set MC_ROLLRATE_I 0.2

205
ROMFS/px4fmu_common/init.d/rc.interface
View File

@ -226,13 +226,11 @@ then
fi
else
set PWM_AUX_OUT none
set FAILSAFE_AUX none
fi
else
echo "ERROR: Could not start: pwm_out mode_pwm"
tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
set PWM_AUX_OUT none
set FAILSAFE_AUX none
fi
# for DShot do not configure pwm values
@ -246,74 +244,7 @@ then
then
pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
fi
# Set disarmed, min and max PWM_AUX values.
if [ $PWM_AUX_DISARMED != none ]
then
pwm disarmed -c ${PWM_AUX_OUT} -p ${PWM_AUX_DISARMED} -d ${OUTPUT_AUX_DEV}
fi
if [ $PWM_AUX_MIN != none ]
then
pwm min -c ${PWM_AUX_OUT} -p ${PWM_AUX_MIN} -d ${OUTPUT_AUX_DEV}
fi
if [ $PWM_AUX_MAX != none ]
then
pwm max -c ${PWM_AUX_OUT} -p ${PWM_AUX_MAX} -d ${OUTPUT_AUX_DEV}
fi
fi
#
# Per channel disarmed settings.
#
pwm disarmed -c 1 -p p:PWM_AUX_DIS1 -d ${OUTPUT_AUX_DEV}
pwm disarmed -c 2 -p p:PWM_AUX_DIS2 -d ${OUTPUT_AUX_DEV}
pwm disarmed -c 3 -p p:PWM_AUX_DIS3 -d ${OUTPUT_AUX_DEV}
pwm disarmed -c 4 -p p:PWM_AUX_DIS4 -d ${OUTPUT_AUX_DEV}
pwm disarmed -c 5 -p p:PWM_AUX_DIS5 -d ${OUTPUT_AUX_DEV}
pwm disarmed -c 6 -p p:PWM_AUX_DIS6 -d ${OUTPUT_AUX_DEV}
pwm disarmed -c 7 -p p:PWM_AUX_DIS7 -d ${OUTPUT_AUX_DEV}
pwm disarmed -c 8 -p p:PWM_AUX_DIS8 -d ${OUTPUT_AUX_DEV}
#
# Per channel min settings.
#
pwm min -c 1 -p p:PWM_AUX_MIN1 -d ${OUTPUT_AUX_DEV}
pwm min -c 2 -p p:PWM_AUX_MIN2 -d ${OUTPUT_AUX_DEV}
pwm min -c 3 -p p:PWM_AUX_MIN3 -d ${OUTPUT_AUX_DEV}
pwm min -c 4 -p p:PWM_AUX_MIN4 -d ${OUTPUT_AUX_DEV}
pwm min -c 5 -p p:PWM_AUX_MIN5 -d ${OUTPUT_AUX_DEV}
pwm min -c 6 -p p:PWM_AUX_MIN6 -d ${OUTPUT_AUX_DEV}
pwm min -c 7 -p p:PWM_AUX_MIN7 -d ${OUTPUT_AUX_DEV}
pwm min -c 8 -p p:PWM_AUX_MIN8 -d ${OUTPUT_AUX_DEV}
#
# Per channel max settings.
#
pwm max -c 1 -p p:PWM_AUX_MAX1 -d ${OUTPUT_AUX_DEV}
pwm max -c 2 -p p:PWM_AUX_MAX2 -d ${OUTPUT_AUX_DEV}
pwm max -c 3 -p p:PWM_AUX_MAX3 -d ${OUTPUT_AUX_DEV}
pwm max -c 4 -p p:PWM_AUX_MAX4 -d ${OUTPUT_AUX_DEV}
pwm max -c 5 -p p:PWM_AUX_MAX5 -d ${OUTPUT_AUX_DEV}
pwm max -c 6 -p p:PWM_AUX_MAX6 -d ${OUTPUT_AUX_DEV}
pwm max -c 7 -p p:PWM_AUX_MAX7 -d ${OUTPUT_AUX_DEV}
pwm max -c 8 -p p:PWM_AUX_MAX8 -d ${OUTPUT_AUX_DEV}
if [ $FAILSAFE_AUX != none ]
then
pwm failsafe -c ${PWM_AUX_OUT} -p ${FAILSAFE} -d ${OUTPUT_AUX_DEV}
fi
#
# Per channel failsafe settings.
#
pwm failsafe -c 1 -p p:PWM_AUX_FAIL1 -d ${OUTPUT_AUX_DEV}
pwm failsafe -c 2 -p p:PWM_AUX_FAIL2 -d ${OUTPUT_AUX_DEV}
pwm failsafe -c 3 -p p:PWM_AUX_FAIL3 -d ${OUTPUT_AUX_DEV}
pwm failsafe -c 4 -p p:PWM_AUX_FAIL4 -d ${OUTPUT_AUX_DEV}
pwm failsafe -c 5 -p p:PWM_AUX_FAIL5 -d ${OUTPUT_AUX_DEV}
pwm failsafe -c 6 -p p:PWM_AUX_FAIL6 -d ${OUTPUT_AUX_DEV}
pwm failsafe -c 7 -p p:PWM_AUX_FAIL7 -d ${OUTPUT_AUX_DEV}
pwm failsafe -c 8 -p p:PWM_AUX_FAIL8 -d ${OUTPUT_AUX_DEV}
fi
fi
fi
@ -327,74 +258,7 @@ then
then
pwm rate -c ${PWM_OUT} -r ${PWM_RATE}
fi
# Set disarmed, min and max PWM values.
if [ $PWM_DISARMED != none ]
then
pwm disarmed -c ${PWM_OUT} -p ${PWM_DISARMED}
fi
if [ $PWM_MIN != none ]
then
pwm min -c ${PWM_OUT} -p ${PWM_MIN}
fi
if [ $PWM_MAX != none ]
then
pwm max -c ${PWM_OUT} -p ${PWM_MAX}
fi
fi
#
# Per channel disarmed settings.
#
pwm disarmed -c 1 -p p:PWM_MAIN_DIS1
pwm disarmed -c 2 -p p:PWM_MAIN_DIS2
pwm disarmed -c 3 -p p:PWM_MAIN_DIS3
pwm disarmed -c 4 -p p:PWM_MAIN_DIS4
pwm disarmed -c 5 -p p:PWM_MAIN_DIS5
pwm disarmed -c 6 -p p:PWM_MAIN_DIS6
pwm disarmed -c 7 -p p:PWM_MAIN_DIS7
pwm disarmed -c 8 -p p:PWM_MAIN_DIS8
#
# Per channel min settings.
#
pwm min -c 1 -p p:PWM_MAIN_MIN1
pwm min -c 2 -p p:PWM_MAIN_MIN2
pwm min -c 3 -p p:PWM_MAIN_MIN3
pwm min -c 4 -p p:PWM_MAIN_MIN4
pwm min -c 5 -p p:PWM_MAIN_MIN5
pwm min -c 6 -p p:PWM_MAIN_MIN6
pwm min -c 7 -p p:PWM_MAIN_MIN7
pwm min -c 8 -p p:PWM_MAIN_MIN8
#
# Per channel max settings.
#
pwm max -c 1 -p p:PWM_MAIN_MAX1
pwm max -c 2 -p p:PWM_MAIN_MAX2
pwm max -c 3 -p p:PWM_MAIN_MAX3
pwm max -c 4 -p p:PWM_MAIN_MAX4
pwm max -c 5 -p p:PWM_MAIN_MAX5
pwm max -c 6 -p p:PWM_MAIN_MAX6
pwm max -c 7 -p p:PWM_MAIN_MAX7
pwm max -c 8 -p p:PWM_MAIN_MAX8
if [ $FAILSAFE != none ]
then
pwm failsafe -c ${PWM_OUT} -p ${FAILSAFE} -d ${OUTPUT_DEV}
fi
#
# Per channel failsafe settings.
#
pwm failsafe -c 1 -p p:PWM_MAIN_FAIL1
pwm failsafe -c 2 -p p:PWM_MAIN_FAIL2
pwm failsafe -c 3 -p p:PWM_MAIN_FAIL3
pwm failsafe -c 4 -p p:PWM_MAIN_FAIL4
pwm failsafe -c 5 -p p:PWM_MAIN_FAIL5
pwm failsafe -c 6 -p p:PWM_MAIN_FAIL6
pwm failsafe -c 7 -p p:PWM_MAIN_FAIL7
pwm failsafe -c 8 -p p:PWM_MAIN_FAIL8
fi
if [ $EXTRA_MIXER_MODE != none ]
@ -420,7 +284,6 @@ then
echo "INFO [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}"
else
echo "ERROR [init] Failed loading mixer: ${MIXER_EXTRA_FILE}"
echo "ERROR [init] Failed loading mixer: ${MIXER_EXTRA_FILE}" >> $LOG_FILE
tune_control play -t 20
fi
@ -431,75 +294,7 @@ then
then
pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE}
fi
# Set disarmed, min and max PWM values.
if [ $PWM_EXTRA_DISARM != none ]
then
pwm disarmed -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_DISARM}
fi
if [ $PWM_EXTRA_MIN != none ]
then
pwm min -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_MIN}
fi
if [ $PWM_EXTRA_MAX != none ]
then
pwm max -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_MAX}
fi
fi
#
# Per channel disarmed settings.
#
pwm disarmed -c 1 -p p:PWM_EXTRA_DIS1 -d ${OUTPUT_EXTRA_DEV}
pwm disarmed -c 2 -p p:PWM_EXTRA_DIS2 -d ${OUTPUT_EXTRA_DEV}
pwm disarmed -c 3 -p p:PWM_EXTRA_DIS3 -d ${OUTPUT_EXTRA_DEV}
pwm disarmed -c 4 -p p:PWM_EXTRA_DIS3 -d ${OUTPUT_EXTRA_DEV}
pwm disarmed -c 5 -p p:PWM_EXTRA_DIS5 -d ${OUTPUT_EXTRA_DEV}
pwm disarmed -c 6 -p p:PWM_EXTRA_DIS3 -d ${OUTPUT_EXTRA_DEV}
pwm disarmed -c 7 -p p:PWM_EXTRA_DIS7 -d ${OUTPUT_EXTRA_DEV}
pwm disarmed -c 8 -p p:PWM_EXTRA_DIS8 -d ${OUTPUT_EXTRA_DEV}
#
# Per channel min settings.
#
pwm min -c 1 -p p:PWM_EXTRA_MIN1 -d ${OUTPUT_EXTRA_DEV}
pwm min -c 2 -p p:PWM_EXTRA_MIN2 -d ${OUTPUT_EXTRA_DEV}
pwm min -c 3 -p p:PWM_EXTRA_MIN3 -d ${OUTPUT_EXTRA_DEV}
pwm min -c 4 -p p:PWM_EXTRA_MIN4 -d ${OUTPUT_EXTRA_DEV}
pwm min -c 5 -p p:PWM_EXTRA_MIN5 -d ${OUTPUT_EXTRA_DEV}
pwm min -c 6 -p p:PWM_EXTRA_MIN6 -d ${OUTPUT_EXTRA_DEV}
pwm min -c 7 -p p:PWM_EXTRA_MIN7 -d ${OUTPUT_EXTRA_DEV}
pwm min -c 8 -p p:PWM_EXTRA_MIN8 -d ${OUTPUT_EXTRA_DEV}
#
# Per channel max settings.
#
pwm max -c 1 -p p:PWM_EXTRA_MAX1 -d ${OUTPUT_EXTRA_DEV}
pwm max -c 2 -p p:PWM_EXTRA_MAX2 -d ${OUTPUT_EXTRA_DEV}
pwm max -c 3 -p p:PWM_EXTRA_MAX3 -d ${OUTPUT_EXTRA_DEV}
pwm max -c 4 -p p:PWM_EXTRA_MAX4 -d ${OUTPUT_EXTRA_DEV}
pwm max -c 5 -p p:PWM_EXTRA_MAX5 -d ${OUTPUT_EXTRA_DEV}
pwm max -c 6 -p p:PWM_EXTRA_MAX6 -d ${OUTPUT_EXTRA_DEV}
pwm max -c 7 -p p:PWM_EXTRA_MAX7 -d ${OUTPUT_EXTRA_DEV}
pwm max -c 8 -p p:PWM_EXTRA_MAX8 -d ${OUTPUT_EXTRA_DEV}
if [ $FAILSAFE_EXTRA != none ]
then
pwm failsafe -c ${PWM_EXTRA_OUT} -p ${FAILSAFE} -d ${OUTPUT_EXTRA_DEV}
fi
#
# Per channel failsafe settings.
#
pwm failsafe -c 1 -p p:PWM_EXTRA_FAIL1 -d ${OUTPUT_EXTRA_DEV}
pwm failsafe -c 2 -p p:PWM_EXTRA_FAIL2 -d ${OUTPUT_EXTRA_DEV}
pwm failsafe -c 3 -p p:PWM_EXTRA_FAIL3 -d ${OUTPUT_EXTRA_DEV}
pwm failsafe -c 4 -p p:PWM_EXTRA_FAIL4 -d ${OUTPUT_EXTRA_DEV}
pwm failsafe -c 5 -p p:PWM_EXTRA_FAIL5 -d ${OUTPUT_EXTRA_DEV}
pwm failsafe -c 6 -p p:PWM_EXTRA_FAIL6 -d ${OUTPUT_EXTRA_DEV}
pwm failsafe -c 7 -p p:PWM_EXTRA_FAIL7 -d ${OUTPUT_EXTRA_DEV}
pwm failsafe -c 8 -p p:PWM_EXTRA_FAIL8 -d ${OUTPUT_EXTRA_DEV}
fi
unset OUTPUT_CMD

5
ROMFS/px4fmu_common/init.d/rcS
View File

@ -24,9 +24,6 @@ set R /
set AUTOCNF no
set AUX_MODE pwm
set DATAMAN_OPT ""
set FAILSAFE none
set FAILSAFE_AUX none
set FAILSAFE_EXTRA none
set FCONFIG /fs/microsd/etc/config.txt
set FEXTRAS /fs/microsd/etc/extras.txt
set FMU_MODE pwm
@ -580,8 +577,6 @@ unset R
unset AUTOCNF
unset AUX_MODE
unset DATAMAN_OPT
unset FAILSAFE
unset FAILSAFE_AUX
unset FCONFIG
unset FEXTRAS
unset FMU_MODE

1
Tools/px4airframes/rcout.py
View File

@ -78,7 +78,6 @@ class RCOutput():
if not post_start:
result += "else\n"
result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\" >> $LOG_FILE\n"
# Reset the configuration
result += "\tparam set SYS_AUTOSTART 0\n"
result += "\ttone_alarm ${TUNE_ERR}\n"

4
boards/cuav/nora/init/rc.board_defaults
View File

@ -13,9 +13,9 @@ then
then
param set SYS_BL_UPDATE 0
param save
echo "BL update..." >> $LOG_FILE
echo "BL update..."
bl_update $BL_FILE
echo "BL update done" >> $LOG_FILE
echo "BL update done"
reboot
fi
fi

3
boards/cuav/nora/src/board_config.h
View File

@ -107,7 +107,8 @@
#define GPIO_HEATER_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_PWM_OUTPUT_CHANNELS 14
#define BOARD_NUM_IO_TIMERS 4
/* Power supply control and monitoring GPIOs */
#define BOARD_NUMBER_BRICKS 2

1
boards/cuav/nora/src/spi.cpp
View File

@ -55,7 +55,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
}),
initSPIBus(SPI::Bus::SPI6, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
//initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortI, GPIO::Pin8}),
}),
};

20
boards/cuav/nora/src/timer_config.cpp
View File

@ -36,12 +36,11 @@
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
// initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
// initIOTimer(Timer::Timer12, DMA{DMA::Index1}),
initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
initIOTimer(Timer::Timer12),
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
// MAIN
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
@ -50,14 +49,12 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
// AUX
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
// initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
// initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@ -81,7 +78,6 @@ static inline constexpr timer_io_channels_t initIOTimerChannelLED(const io_timer
}
constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}, 1),
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}, 2),
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel3}, {GPIO::PortI, GPIO::Pin7}, 3),

4
boards/cuav/x7pro/init/rc.board_defaults
View File

@ -13,9 +13,9 @@ then
then
param set SYS_BL_UPDATE 0
param save
echo "BL update..." >> $LOG_FILE
echo "BL update..."
bl_update $BL_FILE
echo "BL update done" >> $LOG_FILE
echo "BL update done"
reboot
fi
fi

3
boards/cuav/x7pro/src/board_config.h
View File

@ -107,7 +107,8 @@
#define GPIO_HEATER_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_PWM_OUTPUT_CHANNELS 14
#define BOARD_NUM_IO_TIMERS 4
/* Power supply control and monitoring GPIOs */
#define BOARD_NUMBER_BRICKS 2

1
boards/cuav/x7pro/src/spi.cpp
View File

@ -56,7 +56,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
}),
initSPIBus(SPI::Bus::SPI6, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}, SPI::DRDY{GPIO::PortH, GPIO::Pin5}),
//initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin12}),
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortI, GPIO::Pin8}),
}),
};

20
boards/cuav/x7pro/src/timer_config.cpp
View File

@ -36,12 +36,11 @@
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
// initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
// initIOTimer(Timer::Timer12, DMA{DMA::Index1}),
initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
initIOTimer(Timer::Timer12),
};
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
// MAIN
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}),
@ -50,14 +49,12 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
// AUX
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
// initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
// initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
// initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortA, GPIO::Pin10}),
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel1}, {GPIO::PortH, GPIO::Pin6}),
initIOTimerChannel(io_timers, {Timer::Timer12, Timer::Channel2}, {GPIO::PortH, GPIO::Pin9}),
};
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@ -81,7 +78,6 @@ static inline constexpr timer_io_channels_t initIOTimerChannelLED(const io_timer
}
constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}, 1),
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}, 2),
initIOTimerChannelLED(led_pwm_timers, {Timer::Timer8, Timer::Channel3}, {GPIO::PortI, GPIO::Pin7}, 3),

4
boards/cubepilot/cubeorange/init/rc.board_defaults
View File

@ -13,9 +13,9 @@ then
then
param set SYS_BL_UPDATE 0
param save
echo "BL update..." >> $LOG_FILE
echo "BL update..."
bl_update $BL_FILE
echo "BL update done" >> $LOG_FILE
echo "BL update done"
reboot
fi
fi

4
boards/holybro/durandal-v1/init/rc.board_defaults
View File

@ -14,9 +14,9 @@ then
then
param set SYS_BL_UPDATE 0
param save
echo "BL update..." >> $LOG_FILE
echo "BL update..."
bl_update $BL_FILE
echo "BL update done" >> $LOG_FILE
echo "BL update done"
reboot
fi
fi

4
boards/mro/pixracerpro/init/rc.board_defaults
View File

@ -13,9 +13,9 @@ then
then
param set SYS_BL_UPDATE 0
param save
echo "BL update..." >> $LOG_FILE
echo "BL update..."
bl_update $BL_FILE
echo "BL update done" >> $LOG_FILE
echo "BL update done"
reboot
fi
fi

4
boards/px4/fmu-v2/init/rc.board_defaults
View File

@ -14,9 +14,9 @@ then
then
param set SYS_BL_UPDATE 0
param save
echo "BL update..." >> $LOG_FILE
echo "BL update..."
bl_update $BL_FILE
echo "BL update done" >> $LOG_FILE
echo "BL update done"
reboot
fi
fi

4
boards/px4/fmu-v3/init/rc.board_defaults
View File

@ -14,9 +14,9 @@ then
then
param set SYS_BL_UPDATE 0
param save
echo "BL update..." >> $LOG_FILE
echo "BL update..."
bl_update $BL_FILE
echo "BL update done" >> $LOG_FILE
echo "BL update done"
reboot
fi
fi

1
src/drivers/dshot/DShot.h
View File

@ -89,6 +89,7 @@ public:
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_PWM,
PORT_PWM14,
PORT_PWM8,
PORT_PWM6,
PORT_PWM5,

4
src/drivers/pwm_out/CMakeLists.txt
View File

@ -37,6 +37,10 @@ px4_add_module(
SRCS
PWMOut.cpp
PWMOut.hpp
MODULE_CONFIG
pwm_main_params.yaml
pwm_aux_params.yaml
pwm_extra_params.yaml
DEPENDS
arch_io_pins
mixer

322
src/drivers/pwm_out/PWMOut.cpp
View File

@ -109,6 +109,7 @@ int PWMOut::set_mode(Mode mode)
_pwm_mask = 0x1;
_pwm_initialized = false;
_num_outputs = 1;
update_params();
break;
#if defined(BOARD_HAS_CAPTURE)
@ -131,6 +132,7 @@ int PWMOut::set_mode(Mode mode)
_pwm_mask = 0x3;
_pwm_initialized = false;
_num_outputs = 2;
update_params();
break;
@ -153,6 +155,7 @@ int PWMOut::set_mode(Mode mode)
_pwm_mask = 0x7;
_pwm_initialized = false;
_num_outputs = 3;
update_params();
break;
@ -175,6 +178,7 @@ int PWMOut::set_mode(Mode mode)
_pwm_mask = 0xf;
_pwm_initialized = false;
_num_outputs = 4;
update_params();
break;
@ -191,6 +195,7 @@ int PWMOut::set_mode(Mode mode)
_pwm_mask = 0x0f;
_pwm_initialized = false;
_num_outputs = 4;
update_params();
break;
#endif
@ -214,6 +219,7 @@ int PWMOut::set_mode(Mode mode)
_pwm_mask = 0x1f;
_pwm_initialized = false;
_num_outputs = 5;
update_params();
break;
@ -229,13 +235,14 @@ int PWMOut::set_mode(Mode mode)
_pwm_mask = 0x3f;
_pwm_initialized = false;
_num_outputs = 6;
update_params();
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case MODE_8PWM: // AeroCore PWMs as 8 PWM outs
case MODE_8PWM:
PX4_DEBUG("MODE_8PWM");
/* default output rates */
_pwm_default_rate = 50;
@ -244,6 +251,7 @@ int PWMOut::set_mode(Mode mode)
_pwm_mask = 0xff;
_pwm_initialized = false;
_num_outputs = 8;
update_params();
break;
#endif
@ -259,6 +267,7 @@ int PWMOut::set_mode(Mode mode)
_pwm_mask = 0x3fff;
_pwm_initialized = false;
_num_outputs = 14;
update_params();
break;
#endif
@ -272,6 +281,7 @@ int PWMOut::set_mode(Mode mode)
_pwm_mask = 0x0;
_pwm_initialized = false;
_num_outputs = 0;
update_params();
if (old_mask != _pwm_mask) {
/* disable servo outputs - no need to set rates */
@ -426,82 +436,6 @@ void PWMOut::update_current_rate()
_mixing_output.setMaxTopicUpdateRate(update_interval_in_us);
}
void PWMOut::update_pwm_rev_mask()
{
uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
reverse_pwm_mask = 0;
const char *pname_format;
if (_class_instance == CLASS_DEVICE_PRIMARY) {
pname_format = "PWM_MAIN_REV%d";
} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
pname_format = "PWM_AUX_REV%d";
} else {
PX4_ERR("PWM REV only for MAIN and AUX");
return;
}
for (unsigned i = 0; i < FMU_MAX_ACTUATORS; i++) {
char pname[16];
/* fill the channel reverse mask from parameters */
sprintf(pname, pname_format, i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
int32_t ival = 0;
param_get(param_h, &ival);
reverse_pwm_mask |= ((int16_t)(ival != 0)) << i;
}
}
}
void PWMOut::update_pwm_trims()
{
PX4_DEBUG("update_pwm_trims");
if (!_mixing_output.mixers()) {
return;
}
int16_t values[FMU_MAX_ACTUATORS] = {};
const char *pname_format;
if (_class_instance == CLASS_DEVICE_PRIMARY) {
pname_format = "PWM_MAIN_TRIM%d";
} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
pname_format = "PWM_AUX_TRIM%d";
} else {
PX4_ERR("PWM TRIM only for MAIN and AUX");
return;
}
for (unsigned i = 0; i < FMU_MAX_ACTUATORS; i++) {
char pname[16];
/* fill the struct from parameters */
sprintf(pname, pname_format, i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
float pval = 0.0f;
param_get(param_h, &pval);
values[i] = (int16_t)(10000 * pval);
PX4_DEBUG("%s: %d", pname, values[i]);
}
}
/* copy the trim values to the mixer offsets */
unsigned n_out = _mixing_output.mixers()->set_trims(values, FMU_MAX_ACTUATORS);
PX4_DEBUG("set %d trims", n_out);
}
int PWMOut::task_spawn(int argc, char *argv[])
{
PWMOut *instance = new PWMOut();
@ -621,10 +555,171 @@ void PWMOut::Run()
void PWMOut::update_params()
{
update_pwm_rev_mask();
update_pwm_trims();
updateParams();
// skip update when armed
if (_mixing_output.armed().armed) {
return;
}
int32_t pwm_min_default = PWM_DEFAULT_MIN;
int32_t pwm_max_default = PWM_DEFAULT_MAX;
int32_t pwm_disarmed_default = 0;
int32_t pwm_rate_default = 50;
const char *prefix;
if (_class_instance == CLASS_DEVICE_PRIMARY) {
prefix = "PWM_MAIN";
param_get(param_find("PWM_MIN"), &pwm_min_default);
param_get(param_find("PWM_MAX"), &pwm_max_default);
param_get(param_find("PWM_DISARMED"), &pwm_disarmed_default);
param_get(param_find("PWM_RATE"), &pwm_rate_default);
} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
prefix = "PWM_AUX";
param_get(param_find("PWM_AUX_MIN"), &pwm_min_default);
param_get(param_find("PWM_AUX_MAX"), &pwm_max_default);
param_get(param_find("PWM_AUX_DISARMED"), &pwm_disarmed_default);
param_get(param_find("PWM_AUX_RATE"), &pwm_rate_default);
} else if (_class_instance == CLASS_DEVICE_TERTIARY) {
prefix = "PWM_EXTRA";
param_get(param_find("PWM_EXTRA_MIN"), &pwm_min_default);
param_get(param_find("PWM_EXTRA_MAX"), &pwm_max_default);
param_get(param_find("PWM_EXTRA_DISARM"), &pwm_disarmed_default);
param_get(param_find("PWM_EXTRA_RATE"), &pwm_rate_default);
} else {
PX4_ERR("invalid class instance %d", _class_instance);
return;
}
// update the counter
// this is needed to decide if disarmed PWM output should be turned on or not
int num_disarmed_set = 0;
char str[17];
for (unsigned i = 0; i < _num_outputs; i++) {
// PWM_MAIN_MINx
{
sprintf(str, "%s_MIN%u", prefix, i + 1);
int32_t pwm_min = -1;
if (param_get(param_find(str), &pwm_min) == PX4_OK) {
if (pwm_min >= 0) {
_mixing_output.minValue(i) = math::constrain(pwm_min, PWM_LOWEST_MIN, PWM_HIGHEST_MIN);
if (pwm_min != _mixing_output.minValue(i)) {
int32_t pwm_min_new = _mixing_output.minValue(i);
param_set(param_find(str), &pwm_min_new);
}
} else {
_mixing_output.minValue(i) = pwm_min_default;
}
}
}
// PWM_MAIN_MAXx
{
sprintf(str, "%s_MAX%u", prefix, i + 1);
int32_t pwm_max = -1;
if (param_get(param_find(str), &pwm_max) == PX4_OK) {
if (pwm_max >= 0) {
_mixing_output.maxValue(i) = math::constrain(pwm_max, PWM_LOWEST_MAX, PWM_HIGHEST_MAX);
if (pwm_max != _mixing_output.maxValue(i)) {
int32_t pwm_max_new = _mixing_output.maxValue(i);
param_set(param_find(str), &pwm_max_new);
}
} else {
_mixing_output.maxValue(i) = pwm_max_default;
}
}
}
// PWM_MAIN_FAILx
{
sprintf(str, "%s_FAIL%u", prefix, i + 1);
int32_t pwm_failsafe = -1;
if (param_get(param_find(str), &pwm_failsafe) == PX4_OK) {
if (pwm_failsafe >= 0) {
_mixing_output.failsafeValue(i) = math::constrain(pwm_failsafe, 0, PWM_HIGHEST_MAX);
if (pwm_failsafe != _mixing_output.failsafeValue(i)) {
int32_t pwm_fail_new = _mixing_output.failsafeValue(i);
param_set(param_find(str), &pwm_fail_new);
}
}
}
}
// PWM_MAIN_DISx
{
sprintf(str, "%s_DIS%u", prefix, i + 1);
int32_t pwm_dis = -1;
if (param_get(param_find(str), &pwm_dis) == PX4_OK) {
if (pwm_dis >= 0) {
_mixing_output.disarmedValue(i) = math::constrain(pwm_dis, 0, PWM_HIGHEST_MAX);
if (pwm_dis != _mixing_output.disarmedValue(i)) {
int32_t pwm_dis_new = _mixing_output.disarmedValue(i);
param_set(param_find(str), &pwm_dis_new);
}
} else {
_mixing_output.disarmedValue(i) = pwm_disarmed_default;
}
}
if (_mixing_output.disarmedValue(i) > 0) {
num_disarmed_set++;
}
}
// PWM_MAIN_REVx
{
sprintf(str, "%s_REV%u", prefix, i + 1);
int32_t pwm_rev = 0;
if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
if (pwm_rev >= 1) {
reverse_pwm_mask = reverse_pwm_mask | (2 << i);
} else {
reverse_pwm_mask = reverse_pwm_mask & ~(2 << i);
}
}
}
}
if (_mixing_output.mixers()) {
int16_t values[FMU_MAX_ACTUATORS] {};
for (unsigned i = 0; i < _num_outputs; i++) {
sprintf(str, "%s_TRIM%u", prefix, i + 1);
float pval = 0.0f;
param_get(param_find(str), &pval);
values[i] = roundf(10000 * pval);
}
// copy the trim values to the mixer offsets
_mixing_output.mixers()->set_trims(values, _num_outputs);
}
_num_disarmed_set = num_disarmed_set;
}
int PWMOut::ioctl(file *filp, int cmd, unsigned long arg)
@ -903,8 +998,8 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
pwm->channel_count = FMU_MAX_ACTUATORS;
arg = (unsigned long)&pwm;
break;
}
break;
case PWM_SERVO_GET_TRIM_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
@ -917,9 +1012,8 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
pwm->channel_count = _mixing_output.mixers()->get_trims((int16_t *)pwm->values);
}
break;
}
break;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
@ -937,6 +1031,7 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
/* FALLTHROUGH */
case PWM_SERVO_SET(7):
/* FALLTHROUGH */
@ -1197,6 +1292,10 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
ret = set_mode(MODE_8PWM);
break;
case PWM_SERVO_MODE_14PWM:
ret = set_mode(MODE_14PWM);
break;
case PWM_SERVO_MODE_4CAP:
ret = set_mode(MODE_4CAP);
break;
@ -1233,7 +1332,7 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
const char *buf = (const char *)arg;
unsigned buflen = strlen(buf);
ret = _mixing_output.loadMixerThreadSafe(buf, buflen);
update_pwm_trims();
update_params();
break;
}
@ -1457,6 +1556,13 @@ int PWMOut::fmu_new_mode(PortMode new_mode)
servo_mode = PWMOut::MODE_1PWM;
break;
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
case PORT_PWM14:
/* select 14-pin PWM mode */
servo_mode = PWMOut::MODE_14PWM;
break;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
case PORT_PWM8:
@ -1880,13 +1986,18 @@ int PWMOut::custom_command(int argc, char *argv[])
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
} else if (!strcmp(verb, "mode_pwm8")) {
new_mode = PORT_PWM8;
new_mode = PORT_PWM14;
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 14
} else if (!strcmp(verb, "mode_pwm14")) {
new_mode = PORT_PWM14;
#endif
}
/* was a new mode set? */
if (new_mode != PORT_MODE_UNSET) {
/* switch modes */
return PWMOut::fmu_new_mode(new_mode);
}
@ -1931,6 +2042,8 @@ int PWMOut::print_status()
case MODE_8PWM: mode_str = "pwm8"; break;
case MODE_14PWM: mode_str = "pwm14"; break;
case MODE_4CAP: mode_str = "cap4"; break;
case MODE_5CAP: mode_str = "cap5"; break;
@ -1995,24 +2108,27 @@ mixer files.
PRINT_MODULE_USAGE_PARAM_COMMENT("All of the mode_* commands will start pwm_out if not running already");
PRINT_MODULE_USAGE_COMMAND("mode_gpio");
PRINT_MODULE_USAGE_COMMAND_DESCR("mode_pwm", "Select all available pins as PWM");
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
PRINT_MODULE_USAGE_COMMAND("mode_pwm8");
#endif
#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 6
PRINT_MODULE_USAGE_COMMAND("mode_pwm6");
PRINT_MODULE_USAGE_COMMAND("mode_pwm5");
PRINT_MODULE_USAGE_COMMAND("mode_pwm5cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap2");
PRINT_MODULE_USAGE_COMMAND("mode_pwm3");
PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
#endif
#if defined(BOARD_HAS_PWM)
PRINT_MODULE_USAGE_COMMAND("mode_pwm1");
PRINT_MODULE_USAGE_COMMAND_DESCR("mode_pwm", "Select all available pins as PWM");
# if BOARD_HAS_PWM >= 14
PRINT_MODULE_USAGE_COMMAND("mode_pwm14");
# endif
# if BOARD_HAS_PWM >= 8
PRINT_MODULE_USAGE_COMMAND("mode_pwm8");
# endif
# if BOARD_HAS_PWM >= 6
PRINT_MODULE_USAGE_COMMAND("mode_pwm6");
PRINT_MODULE_USAGE_COMMAND("mode_pwm5");
PRINT_MODULE_USAGE_COMMAND("mode_pwm5cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm4cap2");
PRINT_MODULE_USAGE_COMMAND("mode_pwm3");
PRINT_MODULE_USAGE_COMMAND("mode_pwm3cap1");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2");
PRINT_MODULE_USAGE_COMMAND("mode_pwm2cap2");
# endif
PRINT_MODULE_USAGE_COMMAND("mode_pwm1");
#endif
PRINT_MODULE_USAGE_COMMAND_DESCR("sensor_reset", "Do a sensor reset (SPI bus)");

5
src/drivers/pwm_out/PWMOut.hpp
View File

@ -69,6 +69,7 @@ enum PortMode {
PORT_MODE_UNSET = 0,
PORT_FULL_GPIO,
PORT_FULL_PWM,
PORT_PWM14,
PORT_PWM8,
PORT_PWM6,
PORT_PWM5,
@ -148,8 +149,6 @@ public:
hrt_abstime edge_time, uint32_t edge_state,
uint32_t overflow);
void update_pwm_trims();
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
@ -189,7 +188,7 @@ private:
void update_current_rate();
int set_pwm_rate(unsigned rate_map, unsigned default_rate, unsigned alt_rate);
int pwm_ioctl(file *filp, int cmd, unsigned long arg);
void update_pwm_rev_mask();
void update_pwm_out_state(bool on);
void update_params();

147
src/drivers/pwm_out/pwm_aux_params.yaml Normal file
View File

@ -0,0 +1,147 @@
__max_num_config_instances: &max_num_config_instances 8
module_name: pwm_out
parameters:
- group: PWM Outputs
definitions:
PWM_AUX_RATE:
description:
short: PWM aux output frequency
long: |
Set to 400 for industry default or 1000 for high frequency ESCs.
Set to 0 for Oneshot125.
type: int32
unit: Hz
min: -1
max: 2000
default: 50
PWM_AUX_MIN:
description:
short: PWM aux minimum value
long: |
Set to 1000 for industry default or 900 to increase servo travel.
type: int32
unit: us
min: 800
max: 1400
default: 1000
PWM_AUX_MAX:
description:
short: PWM aux maximum value
long: |
Set to 2000 for industry default or 2100 to increase servo travel.
type: int32
unit: us
min: 1600
max: 2200
default: 2000
PWM_AUX_DISARMED:
description:
short: PWM aux disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
The main use of this parameter is to silence ESCs when they are disarmed.
type: int32
unit: us
min: 0
max: 2200
default: 1500
PWM_AUX_MIN${i}:
description:
short: PWM aux ${i} minimum value
long: |
This is the minimum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_AUX_MIN will be used
type: int32
unit: us
min: -1
max: 1600
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_AUX_MAX${i}:
description:
short: PWM aux ${i} maximum value
long: |
This is the maximum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_AUX_MAX will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_AUX_FAIL${i}:
description:
short: PWM aux ${i} failsafe value
long: |
This is the PWM pulse the autopilot is outputting if in failsafe mode.
When set to -1 the value is set automatically depending if the actuator
is a motor (900us) or a servo (1500us)
type: int32
unit: us
min: 0
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: 0
PWM_AUX_DIS${i}:
description:
short: PWM aux ${i} disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
When set to -1 the value for PWM_AUX_DISARMED will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: 0
PWM_AUX_TRIM${i}:
description:
short: PWM aux ${i} trim value
long: |
Set to normalized offset
type: float
min: -0.2
max: 0.2
decimal: 2
num_instances: *max_num_config_instances
instance_start: 1
default: 0
PWM_AUX_REV${i}:
description:
short: PWM aux ${i} reverse value
long: |
Enable to invert the channel.
Warning: Use this parameter when connected to a servo only.
For a brushless motor, invert manually two phases to reverse the direction.
type: boolean
num_instances: *max_num_config_instances
instance_start: 1
default: 0
PWM_AUX_RATE${i}:
description:
short: PWM aux ${i} rate
long: |
Set the default PWM output frequency for the aux outputs
type: int32
unit: Hz
min: 0
max: 400
instance_start: 1
default: 50

147
src/drivers/pwm_out/pwm_extra_params.yaml Normal file
View File

@ -0,0 +1,147 @@
__max_num_config_instances: &max_num_config_instances 8
module_name: pwm_out
parameters:
- group: PWM Outputs
definitions:
PWM_EXTRA_RATE:
description:
short: PWM extra output frequency
long: |
Set to 400 for industry default or 1000 for high frequency ESCs.
Set to 0 for Oneshot125.
type: int32
unit: Hz
min: -1
max: 2000
default: 50
PWM_EXTRA_MIN:
description:
short: PWM extra minimum value
long: |
Set to 1000 for industry default or 900 to increase servo travel.
type: int32
unit: us
min: 800
max: 1400
default: 1000
PWM_EXTRA_MAX:
description:
short: PWM extra maximum value
long: |
Set to 2000 for industry default or 2100 to increase servo travel.
type: int32
unit: us
min: 1600
max: 2200
default: 2000
PWM_EXTRA_DISARM:
description:
short: PWM extra disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
The main use of this parameter is to silence ESCs when they are disarmed.
type: int32
unit: us
min: 0
max: 2200
default: 1500
PWM_EXTRA_MIN${i}:
description:
short: PWM extra ${i} minimum value
long: |
This is the minimum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_EXTRA_MIN will be used
type: int32
unit: us
min: -1
max: 1600
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_EXTRA_MAX${i}:
description:
short: PWM extra ${i} maximum value
long: |
This is the maximum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_EXTRA_MAX will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_EXTRA_FAIL${i}:
description:
short: PWM extra ${i} failsafe value
long: |
This is the PWM pulse the autopilot is outputting if in failsafe mode.
When set to -1 the value is set automatically depending if the actuator
is a motor (900us) or a servo (1500us)
type: int32
unit: us
min: 0
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: 0
PWM_EXTRA_DIS${i}:
description:
short: PWM extra ${i} disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
When set to -1 the value for PWM_EXTRA_DISARM will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_EXTRA_TRIM${i}:
description:
short: PWM extra ${i} trim value
long: |
Set to normalized offset
type: float
min: -0.2
max: 0.2
decimal: 2
num_instances: *max_num_config_instances
instance_start: 1
default: 0
PWM_EXTRA_REV${i}:
description:
short: PWM extra ${i} reverse value
long: |
Enable to invert the channel.
Warning: Use this parameter when connected to a servo only.
For a brushless motor, invert manually two phases to reverse the direction.
type: boolean
num_instances: *max_num_config_instances
instance_start: 1
default: 0
PWM_EXTRA_RATE${i}:
description:
short: PWM extra ${i} rate
long: |
Set the default PWM output frequency for the main outputs
type: int32
unit: Hz
min: 0
max: 400
instance_start: 1
default: 50

147
src/drivers/pwm_out/pwm_main_params.yaml Normal file
View File

@ -0,0 +1,147 @@
__max_num_config_instances: &max_num_config_instances 14
module_name: pwm_out
parameters:
- group: PWM Outputs
definitions:
PWM_RATE:
description:
short: PWM main output frequency
long: |
Set to 400 for industry default or 1000 for high frequency ESCs.
Set to 0 for Oneshot125.
type: int32
unit: Hz
min: -1
max: 2000
default: 400
PWM_MAIN_MIN:
description:
short: PWM main minimum value
long: |
Set to 1000 for industry default or 900 to increase servo travel.
type: int32
unit: us
min: 800
max: 1400
default: 1000
PWM_MAIN_MAX:
description:
short: PWM main maximum value
long: |
Set to 2000 for industry default or 2100 to increase servo travel.
type: int32
unit: us
min: 1600
max: 2200
default: 2000
PWM_DISARMED:
description:
short: PWM main disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
The main use of this parameter is to silence ESCs when they are disarmed.
type: int32
unit: us
min: 0
max: 2200
default: 900
PWM_MAIN_MIN${i}:
description:
short: PWM main ${i} minimum value
long: |
This is the minimum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_MIN will be used
type: int32
unit: us
min: -1
max: 1600
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_MAIN_MAX${i}:
description:
short: PWM main ${i} maximum value
long: |
This is the maximum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_MAX will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_MAIN_FAIL${i}:
description:
short: PWM main ${i} failsafe value
long: |
This is the PWM pulse the autopilot is outputting if in failsafe mode.
When set to -1 the value is set automatically depending if the actuator
is a motor (900us) or a servo (1500us)
type: int32
unit: us
min: 0
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: 0
PWM_MAIN_DIS${i}:
description:
short: PWM main ${i} disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
When set to -1 the value for PWM_DISARMED will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_MAIN_TRIM${i}:
description:
short: PWM main ${i} trim value
long: |
Set to normalized offset
type: float
min: -0.2
max: 0.2
decimal: 2
num_instances: *max_num_config_instances
instance_start: 1
default: 0
PWM_MAIN_REV${i}:
description:
short: PWM main ${i} reverse value
long: |
Enable to invert the channel.
Warning: Use this parameter when connected to a servo only.
For a brushless motor, invert manually two phases to reverse the direction.
type: boolean
num_instances: *max_num_config_instances
instance_start: 1
default: 0
PWM_MAIN_RATE${i}:
description:
short: PWM main ${i} rate
long: |
Set the default PWM output frequency for the main outputs
type: int32
unit: Hz
min: 0
max: 400
instance_start: 1
default: 50

213
src/drivers/px4io/px4io.cpp
View File

@ -425,6 +425,8 @@ private:
*/
void answer_command(const vehicle_command_s &cmd, uint8_t result);
void update_params();
/**
* check and handle test_motor topic updates
*/
@ -1075,51 +1077,6 @@ PX4IO::task_main()
}
}
/*
* Set invert mask for PWM outputs (does not apply to S.Bus)
*/
int16_t pwm_invert_mask = 0;
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
int32_t ival;
/* fill the channel reverse mask from parameters */
sprintf(pname, "PWM_MAIN_REV%u", i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
param_get(param_h, &ival);
pwm_invert_mask |= ((int16_t)(ival != 0)) << i;
}
}
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, pwm_invert_mask);
// update trim values
struct pwm_output_values pwm_values;
// memset(&pwm_values, 0, sizeof(pwm_values));
// ret = io_reg_get(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, (uint16_t *)pwm_values.values, _max_actuators);
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
float pval;
/* fetch the trim values from parameters */
sprintf(pname, "PWM_MAIN_TRIM%u", i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
param_get(param_h, &pval);
pwm_values.values[i] = (int16_t)(10000 * pval);
}
}
/* copy values to registers in IO */
ret = io_reg_set(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, pwm_values.values, _max_actuators);
float param_val;
param_t parm_handle;
@ -1211,6 +1168,8 @@ PX4IO::task_main()
param_get(parm_handle, &param_val_int);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_AIRMODE, SIGNED_TO_REG(param_val_int));
}
update_params();
}
}
@ -1233,6 +1192,170 @@ out:
_exit(0);
}
void PX4IO::update_params()
{
// skip update when armed
if (_armed) {
return;
}
int32_t pwm_min_default = PWM_DEFAULT_MIN;
int32_t pwm_max_default = PWM_DEFAULT_MAX;
int32_t pwm_disarmed_default = 0;
int32_t pwm_rate_default = 50;
const char *prefix = "PWM_MAIN";
param_get(param_find("PWM_MIN"), &pwm_min_default);
param_get(param_find("PWM_MAX"), &pwm_max_default);
param_get(param_find("PWM_DISARMED"), &pwm_disarmed_default);
param_get(param_find("PWM_RATE"), &pwm_rate_default);
char str[17];
// PWM_MAIN_MINx
{
pwm_output_values pwm{};
pwm.channel_count = _max_actuators;
for (unsigned i = 0; i < _max_actuators; i++) {
sprintf(str, "%s_MIN%u", prefix, i + 1);
int32_t pwm_min = -1;
if (param_get(param_find(str), &pwm_min) == PX4_OK) {
if (pwm_min >= 0) {
pwm.values[i] = math::constrain(pwm_min, PWM_LOWEST_MIN, PWM_HIGHEST_MIN);
if (pwm_min != pwm.values[i]) {
int32_t pwm_min_new = pwm.values[i];
param_set(param_find(str), &pwm_min_new);
}
} else {
pwm.values[i] = pwm_min_default;
}
}
}
io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm.values, pwm.channel_count);
}
// PWM_MAIN_MAXx
{
pwm_output_values pwm{};
pwm.channel_count = _max_actuators;
for (unsigned i = 0; i < _max_actuators; i++) {
sprintf(str, "%s_MAX%u", prefix, i + 1);
int32_t pwm_max = -1;
if (param_get(param_find(str), &pwm_max) == PX4_OK) {
if (pwm_max >= 0) {
pwm.values[i] = math::constrain(pwm_max, PWM_LOWEST_MAX, PWM_HIGHEST_MAX);
if (pwm_max != pwm.values[i]) {
int32_t pwm_max_new = pwm.values[i];
param_set(param_find(str), &pwm_max_new);
}
} else {
pwm.values[i] = pwm_max_default;
}
}
}
io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm.values, pwm.channel_count);
}
// PWM_MAIN_FAILx
{
pwm_output_values pwm{};
pwm.channel_count = _max_actuators;
for (unsigned i = 0; i < _max_actuators; i++) {
sprintf(str, "%s_FAIL%u", prefix, i + 1);
int32_t pwm_fail = -1;
if (param_get(param_find(str), &pwm_fail) == PX4_OK) {
if (pwm_fail >= 0) {
pwm.values[i] = math::constrain(pwm_fail, 0, PWM_HIGHEST_MAX);
if (pwm_fail != pwm.values[i]) {
int32_t pwm_fail_new = pwm.values[i];
param_set(param_find(str), &pwm_fail_new);
}
}
}
}
io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm.values, pwm.channel_count);
}
// PWM_MAIN_DISx
{
pwm_output_values pwm{};
pwm.channel_count = _max_actuators;
for (unsigned i = 0; i < _max_actuators; i++) {
sprintf(str, "%s_DIS%u", prefix, i + 1);
int32_t pwm_dis = -1;
if (param_get(param_find(str), &pwm_dis) == PX4_OK) {
if (pwm_dis >= 0) {
pwm.values[i] = math::constrain(pwm_dis, 0, PWM_HIGHEST_MAX);
if (pwm_dis != pwm.values[i]) {
int32_t pwm_dis_new = pwm.values[i];
param_set(param_find(str), &pwm_dis_new);
}
} else {
pwm.values[i] = pwm_disarmed_default;
}
}
}
io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm.values, pwm.channel_count);
}
// PWM_MAIN_REVx
{
int16_t reverse_pwm_mask = 0;
for (unsigned i = 0; i < _max_actuators; i++) {
sprintf(str, "%s_REV%u", prefix, i + 1);
int32_t pwm_rev = -1;
if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
if (pwm_rev >= 1) {
reverse_pwm_mask |= (2 << i);
}
}
}
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, reverse_pwm_mask);
}
// PWM_MAIN_TRIMx
{
uint16_t values[8] {};
for (unsigned i = 0; i < _max_actuators; i++) {
sprintf(str, "%s_TRIM%u", prefix, i + 1);
float pwm_trim = 0.f;
if (param_get(param_find(str), &pwm_trim) == PX4_OK) {
values[i] = (int16_t)(10000 * pwm_trim);
}
}
// copy the trim values to the mixer offsets
io_reg_set(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, values, _max_actuators);
}
}
int
PX4IO::io_set_control_groups()
{

801
src/modules/sensors/pwm_params_aux.c
View File

@ -1,801 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file pwm_params_aux.c
*
* Parameters defined for PWM output.
*
*/
/******************************************************************************
* PWM_AUX_RATE *
******************************************************************************/
/**
* Set the PWM output frequency for the auxiliary outputs
*
* Set to 400 for industry default or 1000 for high frequency ESCs.
*
* Set to 0 for Oneshot125.
*
* @reboot_required true
*
* @min -1
* @max 2000
* @unit Hz
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_RATE, 50);
/**
* Set the minimum PWM for the auxiliary outputs
*
* Set to 1000 for industry default or 900 to increase servo travel.
*
* @reboot_required true
*
* @min 800
* @max 1400
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MIN, 1000);
/**
* Set the maximum PWM for the auxiliary outputs
*
* Set to 2000 for industry default or 2100 to increase servo travel.
*
* @reboot_required true
*
* @min 1600
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
/**
* Set the disarmed PWM for auxiliary outputs
*
* This is the PWM pulse the autopilot is outputting if not armed.
* The main use of this parameter is to silence ESCs when they are disarmed.
*
* @reboot_required true
*
* @min 0
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1500);
/******************************************************************************
* PWM_AUX_MIN *
******************************************************************************/
/**
* Set the min PWM value for the auxiliary 1 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MIN1, -1);
/**
* Set the min PWM value for the auxiliary 2 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MIN2, -1);
/**
* Set the min PWM value for the auxiliary 3 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MIN3, -1);
/**
* Set the min PWM value for the auxiliary 4 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MIN4, -1);
/**
* Set the min PWM value for the auxiliary 5 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MIN5, -1);
/**
* Set the min PWM value for the auxiliary 6 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MIN6, -1);
/**
* Set the min PWM value for the auxiliary 7 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MIN7, -1);
/**
* Set the min PWM value for the auxiliary 8 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MIN8, -1);
/******************************************************************************
* PWM_AUX_MAX *
******************************************************************************/
/**
* Set the max PWM value for the auxiliary 1 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MAX1, -1);
/**
* Set the max PWM value for the auxiliary 2 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MAX2, -1);
/**
* Set the max PWM value for the auxiliary 3 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MAX3, -1);
/**
* Set the max PWM value for the auxiliary 4 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MAX4, -1);
/**
* Set the max PWM value for the auxiliary 5 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MAX5, -1);
/**
* Set the max PWM value for the auxiliary 6 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MAX6, -1);
/**
* Set the max PWM value for the auxiliary 7 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MAX7, -1);
/**
* Set the max PWM value for the auxiliary 8 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_AUX_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_MAX8, -1);
/******************************************************************************
* PWM_AUX_FAIL *
******************************************************************************/
/**
* Set the failsafe PWM for the auxiliary 1 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_FAIL1, -1);
/**
* Set the failsafe PWM for the auxiliary 2 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_FAIL2, -1);
/**
* Set the failsafe PWM for the auxiliary 3 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_FAIL3, -1);
/**
* Set the failsafe PWM for the auxiliary 4 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_FAIL4, -1);
/**
* Set the failsafe PWM for the auxiliary 5 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_FAIL5, -1);
/**
* Set the failsafe PWM for the auxiliary 6 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_FAIL6, -1);
/**
* Set the failsafe PWM for the auxiliary 7 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_FAIL7, -1);
/**
* Set the failsafe PWM for the auxiliary 8 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_FAIL8, -1);
/******************************************************************************
* PWM_AUX_DIS *
******************************************************************************/
/**
* Set the disarmed PWM for the auxiliary 1 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_AUX_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_DIS1, -1);
/**
* Set the disarmed PWM for the auxiliary 2 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_AUX_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_DIS2, -1);
/**
* Set the disarmed PWM for the auxiliary 3 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_AUX_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_DIS3, -1);
/**
* Set the disarmed PWM for the auxiliary 4 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_AUX_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_DIS4, -1);
/**
* Set the disarmed PWM for the auxiliary 5 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_AUX_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_DIS5, -1);
/**
* Set the disarmed PWM for the auxiliary 6 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_AUX_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_DIS6, -1);
/**
* Set the disarmed PWM for the auxiliary 7 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_AUX_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_DIS7, -1);
/**
* Set the disarmed PWM for the auxiliary 8 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_AUX_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_DIS8, -1);
/******************************************************************************
* PWM_AUX_REV *
******************************************************************************/
/**
* Invert direction of auxiliary output channel 1
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);
/**
* Invert direction of auxiliary output channel 2
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);
/**
* Invert direction of auxiliary output channel 3
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);
/**
* Invert direction of auxiliary output channel 4
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);
/**
* Invert direction of auxiliary output channel 5
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);
/**
* Invert direction of auxiliary output channel 6
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_REV6, 0);
/**
* Invert direction of auxiliary output channel 7
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_REV7, 0);
/**
* Invert direction of auxiliary output channel 8
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_AUX_REV8, 0);
/******************************************************************************
* PWM_AUX_TRIM *
******************************************************************************/
/**
* Trim value for auxiliary output channel 1
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM1, 0);
/**
* Trim value for auxiliary output channel 2
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM2, 0);
/**
* Trim value for auxiliary output channel 3
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM3, 0);
/**
* Trim value for auxiliary output channel 4
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM4, 0);
/**
* Trim value for auxiliary output channel 5
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM5, 0);
/**
* Trim value for auxiliary output channel 6
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM6, 0);
/**
* Trim value for auxiliary output channel 7
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM7, 0);
/**
* Trim value for auxiliary output channel 8
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM8, 0);

801
src/modules/sensors/pwm_params_extra.c
View File

@ -1,801 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file pwm_params_extra.c
*
* Parameters defined for PWM output.
*
*/
/******************************************************************************
* PWM_EXTRA_RATE *
******************************************************************************/
/**
* Set the PWM output frequency for the extra outputs
*
* Set to 400 for industry default or 1000 for high frequency ESCs.
*
* Set to 0 for Oneshot125.
*
* @reboot_required true
*
* @min -1
* @max 2000
* @unit Hz
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_RATE, 50);
/**
* Set the minimum PWM for the extra outputs
*
* Set to 1000 for industry default or 900 to increase servo travel.
*
* @reboot_required true
*
* @min 800
* @max 1400
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MIN, 1000);
/**
* Set the maximum PWM for the extra outputs
*
* Set to 2000 for industry default or 2100 to increase servo travel.
*
* @reboot_required true
*
* @min 1600
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MAX, 2000);
/**
* Set the disarmed PWM for extra outputs
*
* This is the PWM pulse the autopilot is outputting if not armed.
* The main use of this parameter is to silence ESCs when they are disarmed.
*
* @reboot_required true
*
* @min 0
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_DISARM, 1500);
/******************************************************************************
* PWM_EXTRA_MIN *
******************************************************************************/
/**
* Set the min PWM value for the extra 1 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MIN1, -1);
/**
* Set the min PWM value for the extra 2 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MIN2, -1);
/**
* Set the min PWM value for the extra 3 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MIN3, -1);
/**
* Set the min PWM value for the extra 4 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MIN4, -1);
/**
* Set the min PWM value for the extra 5 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MIN5, -1);
/**
* Set the min PWM value for the extra 6 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MIN6, -1);
/**
* Set the min PWM value for the extra 7 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MIN7, -1);
/**
* Set the min PWM value for the extra 8 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MIN8, -1);
/******************************************************************************
* PWM_EXTRA_MAX *
******************************************************************************/
/**
* Set the max PWM value for the extra 1 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MAX1, -1);
/**
* Set the max PWM value for the extra 2 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MAX2, -1);
/**
* Set the max PWM value for the extra 3 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MAX3, -1);
/**
* Set the max PWM value for the extra 4 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MAX4, -1);
/**
* Set the max PWM value for the extra 5 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MAX5, -1);
/**
* Set the max PWM value for the extra 6 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MAX6, -1);
/**
* Set the max PWM value for the extra 7 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MAX7, -1);
/**
* Set the max PWM value for the extra 8 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_EXTRA_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_MAX8, -1);
/******************************************************************************
* PWM_EXTRA_FAIL *
******************************************************************************/
/**
* Set the failsafe PWM for the extra 1 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_FAIL1, -1);
/**
* Set the failsafe PWM for the extra 2 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_FAIL2, -1);
/**
* Set the failsafe PWM for the extra 3 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_FAIL3, -1);
/**
* Set the failsafe PWM for the extra 4 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_FAIL4, -1);
/**
* Set the failsafe PWM for the extra 5 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_FAIL5, -1);
/**
* Set the failsafe PWM for the extra 6 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_FAIL6, -1);
/**
* Set the failsafe PWM for the extra 7 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_FAIL7, -1);
/**
* Set the failsafe PWM for the extra 8 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_FAIL8, -1);
/******************************************************************************
* PWM_EXTRA_DIS *
******************************************************************************/
/**
* Set the disarmed PWM for the extra 1 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_EXTRA_DISARM will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_DIS1, -1);
/**
* Set the disarmed PWM for the extra 2 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_EXTRA_DISARM will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_DIS2, -1);
/**
* Set the disarmed PWM for the extra 3 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_EXTRA_DISARM will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_DIS3, -1);
/**
* Set the disarmed PWM for the extra 4 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_EXTRA_DISARM will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_DIS4, -1);
/**
* Set the disarmed PWM for the extra 5 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_EXTRA_DISARM will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_DIS5, -1);
/**
* Set the disarmed PWM for the extra 6 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_EXTRA_DISARM will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_DIS6, -1);
/**
* Set the disarmed PWM for the extra 7 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_EXTRA_DISARM will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_DIS7, -1);
/**
* Set the disarmed PWM for the extra 8 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_EXTRA_DISARM will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_DIS8, -1);
/******************************************************************************
* PWM_EXTRA_REV *
******************************************************************************/
/**
* Invert direction of extra output channel 1
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_REV1, 0);
/**
* Invert direction of extra output channel 2
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_REV2, 0);
/**
* Invert direction of extra output channel 3
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_REV3, 0);
/**
* Invert direction of extra output channel 4
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_REV4, 0);
/**
* Invert direction of extra output channel 5
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_REV5, 0);
/**
* Invert direction of extra output channel 6
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_REV6, 0);
/**
* Invert direction of extra output channel 7
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_REV7, 0);
/**
* Invert direction of extra output channel 8
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_EXTRA_REV8, 0);
/******************************************************************************
* PWM_EXTRA_TRIM *
******************************************************************************/
/**
* Trim value for extra output channel 1
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_EXTRA_TRIM1, 0);
/**
* Trim value for extra output channel 2
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_EXTRA_TRIM2, 0);
/**
* Trim value for extra output channel 3
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_EXTRA_TRIM3, 0);
/**
* Trim value for extra output channel 4
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_EXTRA_TRIM4, 0);
/**
* Trim value for extra output channel 5
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_EXTRA_TRIM5, 0);
/**
* Trim value for extra output channel 6
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_EXTRA_TRIM6, 0);
/**
* Trim value for extra output channel 7
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_EXTRA_TRIM7, 0);
/**
* Trim value for extra output channel 8
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_EXTRA_TRIM8, 0);

804
src/modules/sensors/pwm_params_main.c
View File

@ -1,804 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file pwm_params_main.c
*
* Parameters defined for PWM output.
*
*/
/******************************************************************************
* PWM_RATE *
******************************************************************************/
/**
* Set the PWM output frequency for the main outputs
*
* Set to 400 for industry default or 1000 for high frequency ESCs.
*
* Set to 0 for Oneshot125.
*
* @reboot_required true
*
* @min -1
* @max 2000
* @unit Hz
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_RATE, 400);
/**
* Set the minimum PWM for the main outputs
*
* Set to 1000 for industry default or 900 to increase servo travel.
*
* @reboot_required true
*
* @min 800
* @max 1400
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MIN, 1000);
/**
* Set the maximum PWM for the main outputs
*
* Set to 2000 for industry default or 2100 to increase servo travel.
*
* @reboot_required true
*
* @min 1600
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAX, 2000);
/**
* Set the disarmed PWM for the main outputs
*
* This is the PWM pulse the autopilot is outputting if not armed.
* The main use of this parameter is to silence ESCs when they are disarmed.
*
* @reboot_required true
*
* @min 0
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_DISARMED, 900);
/******************************************************************************
* PWM_MAIN_MIN *
******************************************************************************/
/**
* Set the min PWM value for the main 1 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN1, -1);
/**
* Set the min PWM value for the main 2 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN2, -1);
/**
* Set the min PWM value for the main 3 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN3, -1);
/**
* Set the min PWM value for the main 4 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN4, -1);
/**
* Set the min PWM value for the main 5 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN5, -1);
/**
* Set the min PWM value for the main 6 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN6, -1);
/**
* Set the min PWM value for the main 7 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN7, -1);
/**
* Set the min PWM value for the main 8 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN8, -1);
/******************************************************************************
* PWM_MAIN_MAX *
******************************************************************************/
/**
* Set the max PWM value for the main 1 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX1, -1);
/**
* Set the max PWM value for the main 2 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX2, -1);
/**
* Set the max PWM value for the main 3 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX3, -1);
/**
* Set the max PWM value for the main 4 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX4, -1);
/**
* Set the max PWM value for the main 5 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX5, -1);
/**
* Set the max PWM value for the main 6 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX6, -1);
/**
* Set the max PWM value for the main 7 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX7, -1);
/**
* Set the max PWM value for the main 8 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX8, -1);
/******************************************************************************
* PWM_MAIN_FAIL *
******************************************************************************/
/**
* Set the failsafe PWM for the main 1 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_FAIL1, -1);
/**
* Set the failsafe PWM for the main 2 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_FAIL2, -1);
/**
* Set the failsafe PWM for the main 3 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_FAIL3, -1);
/**
* Set the failsafe PWM for the main 4 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_FAIL4, -1);
/**
* Set the failsafe PWM for the main 5 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_FAIL5, -1);
/**
* Set the failsafe PWM for the main 6 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_FAIL6, -1);
/**
* Set the failsafe PWM for the main 7 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_FAIL7, -1);
/**
* Set the failsafe PWM for the main 8 output
*
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
* When set to -1 the value is set automatically depending if the actuator
* is a motor (900us) or a servo (1500us)
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_FAIL8, -1);
/******************************************************************************
* PWM_MAIN_DIS *
******************************************************************************/
/**
* Set the disarmed PWM for the main 1 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS1, -1);
/**
* Set the disarmed PWM for the main 2 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS2, -1);
/**
* Set the disarmed PWM for the main 3 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS3, -1);
/**
* Set the disarmed PWM for the main 4 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS4, -1);
/**
* Set the disarmed PWM for the main 5 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS5, -1);
/**
* Set the disarmed PWM for the main 6 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS6, -1);
/**
* Set the disarmed PWM for the main 7 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS7, -1);
/**
* Set the disarmed PWM for the main 8 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS8, -1);
/******************************************************************************
* PWM_MAIN_REV *
******************************************************************************/
/**
* Invert direction of main output channel 1
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_REV1, 0);
/**
* Invert direction of main output channel 2
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_REV2, 0);
/**
* Invert direction of main output channel 3
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_REV3, 0);
/**
* Invert direction of main output channel 4
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_REV4, 0);
/**
* Invert direction of main output channel 5
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_REV5, 0);
/**
* Invert direction of main output channel 6
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_REV6, 0);
/**
* Invert direction of main output channel 7
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
/**
* Invert direction of main output channel 8
*
* Enable to invert the channel.
* Warning: Use this parameter when connected to a servo only.
* For a brushless motor, invert manually two phases to reverse the direction.
*
* @boolean
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0);
/******************************************************************************
* PWM_MAIN_TRIM *
******************************************************************************/
/**
* Trim value for main output channel 1
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM1, 0);
/**
* Trim value for main output channel 2
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM2, 0);
/**
* Trim value for main output channel 3
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM3, 0);
/**
* Trim value for main output channel 4
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM4, 0);
/**
* Trim value for main output channel 5
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM5, 0);
/**
* Trim value for main output channel 6
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM6, 0);
/**
* Trim value for main output channel 7
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM7, 0);
/**
* Trim value for main output channel 8
*
* Set to normalized offset
*
* @min -0.2
* @max 0.2
* @decimal 2
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(PWM_MAIN_TRIM8, 0);