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delete remaining PWM_MAIN/PWM_AUX/PWM_EXTRA parameters

This commit is contained in:
Daniel Agar 2022-08-24 17:54:47 -04:00
parent 4ec9e2f216
commit 55be169e18
19 changed files with 0 additions and 459 deletions
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2
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
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@ -99,8 +99,6 @@ param set-default MPC_YAWRAUTO_MAX 20
param set-default NAV_LOITER_RAD 100
param set-default PWM_AUX_DISARM 950
param set-default PWM_MAIN_DIS5 1500
param set-default PWM_MAIN_DIS6 1500
param set-default PWM_MAIN_DIS7 900

1
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
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@ -76,7 +76,6 @@ param set-default NAV_ACC_RAD 3
param set-default PWM_MAIN_DIS3 1000
param set-default PWM_MAIN_MIN3 1120
param set-default PWM_MAIN_MIN 950
param set-default SENS_BOARD_ROT 4

3
ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
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@ -24,9 +24,6 @@
param set-default BAT1_CAPACITY 3300
param set-default BAT1_N_CELLS 3
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 50
param set-default SENS_BOARD_ROT 4
param set-default FW_AIRSPD_MAX 20

3
ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
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@ -80,9 +80,6 @@ param set-default CP_GO_NO_DATA 1
# Navigator Parameters
param set-default NAV_ACC_RAD 2
# use oneshot motor output protocol
param set-default PWM_MAIN_RATE 0
# RTL Parameters
param set-default RTL_DESCEND_ALT 5
param set-default RTL_RETURN_ALT 5

2
ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
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@ -44,8 +44,6 @@ param set-default MPC_THR_HOVER 0.25
param set-default MPC_THR_MIN 0.05
param set-default MPC_Z_VEL_I_ACC 1.7
param set-default PWM_MAIN_MIN 1050
param set-default THR_MDL_FAC 0.3
param set-default CA_ROTOR_COUNT 4

1
ROMFS/px4fmu_common/init.d/airframes/4071_ifo
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@ -32,7 +32,6 @@ param set-default IMU_DGYRO_CUTOFF 90
param set-default IMU_GYRO_CUTOFF 100
# System
param set-default PWM_MAIN_MIN 1100
param set-default SENS_BOARD_ROT 10

1
ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
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@ -61,7 +61,6 @@ param set-default IMU_GYRO_CUTOFF 100
param set-default THR_MDL_FAC 0.25
# System
param set-default PWM_MAIN_MIN 1100
param set-default PWM_MAIN_DIS5 980
param set-default PWM_MAIN_DIS6 980

2
ROMFS/px4fmu_common/init.d/rc.fw_defaults
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@ -46,8 +46,6 @@ param set-default MIS_DIST_WPS 5000
param set-default MIS_LTRMIN_ALT 25
param set-default MIS_TAKEOFF_ALT 25
param set-default PWM_MAIN_RATE 50
#
# FW takeoff acceleration can easily exceed ublox GPS 2G default.
#

4
ROMFS/px4fmu_common/init.d/rc.mc_defaults
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@ -20,8 +20,4 @@ param set-default NAV_ACC_RAD 2
param set-default RTL_RETURN_ALT 30
param set-default RTL_DESCEND_ALT 10
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1075
param set-default PWM_MAIN_RATE 400
param set-default GPS_UBX_DYNMODEL 6

4
ROMFS/px4fmu_common/init.d/rc.uuv_defaults
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@ -9,7 +9,3 @@ set VEHICLE_TYPE uuv
# MAV_TYPE_SUBMARINE 12
param set-default MAV_TYPE 12
param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1050
param set-default PWM_MAIN_DISARM 1500

3
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
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@ -36,9 +36,6 @@ param set-default MC_YAW_P 2
param set-default MC_YAWRATE_MAX 120
param set-default MPC_MAN_Y_MAX 90
param set-default PWM_AUX_RATE 50
param set-default PWM_MAIN_RATE 400
param set-default RTL_TYPE 1
param set-default WV_EN 1

10
posix-configs/bbblue/px4.config
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@ -18,16 +18,6 @@ param set CBRK_SUPPLY_CHK 894281
# 4001: Generic Quadrotor X; 4011: DJI Flame Wheel F450
param set SYS_AUTOSTART 4011
# DJI ESCs do not support calibration and need higher PWM_MIN
# http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
# It seems that all latest DJI ESC have the same range.
# Note that the setting here applies to all PWM channels.
# param set PWM_MAIN_MIN 1120
# param set PWM_MAIN_MAX 1920
# Not using DJI 430 LITE ESC anymore due to its hiccups:
# each random motor stop would cause a scary flip in the fly
# Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
# Broadcast heartbeats on local network. This allows a ground control station
# to automatically find the drone on the local network.

10
posix-configs/bbblue/px4_fw.config
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@ -18,16 +18,6 @@ param set CBRK_SUPPLY_CHK 894281
# 4001: Generic Quadrotor X; 4011: DJI Flame Wheel F450
param set SYS_AUTOSTART 4011
# DJI ESCs do not support calibration and need higher PWM_MIN
# http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
# It seems that all latest DJI ESC have the same range.
# Note that the setting here applies to all PWM channels.
# param set PWM_MAIN_MIN 1120
# param set PWM_MAIN_MAX 1920
# Not using DJI 430 LITE ESC anymore due to its hiccups:
# each random motor stop would cause a scary flip in the fly
# Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
# Broadcast heartbeats on local network. This allows a ground control station
# to automatically find the drone on the local network.

1
src/lib/CMakeLists.txt
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@ -57,7 +57,6 @@ add_subdirectory(npfg)
add_subdirectory(perf)
add_subdirectory(pid)
add_subdirectory(pid_design)
add_subdirectory(pwm)
add_subdirectory(rate_control)
add_subdirectory(rc)
add_subdirectory(sensor_calibration)

27
src/lib/parameters/param_translation.cpp
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@ -109,33 +109,6 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2021-01-31 (v1.12 alpha): translate PWM_MIN/PWM_MAX/PWM_DISARMED to PWM_MAIN
{
if (strcmp("PWM_MIN", node->name) == 0) {
strcpy(node->name, "PWM_MAIN_MIN");
PX4_INFO("copying %s -> %s", "PWM_MIN", "PWM_MAIN_MIN");
return true;
}
if (strcmp("PWM_MAX", node->name) == 0) {
strcpy(node->name, "PWM_MAIN_MAX");
PX4_INFO("copying %s -> %s", "PWM_MAX", "PWM_MAIN_MAX");
return true;
}
if (strcmp("PWM_RATE", node->name) == 0) {
strcpy(node->name, "PWM_MAIN_RATE");
PX4_INFO("copying %s -> %s", "PWM_RATE", "PWM_MAIN_RATE");
return true;
}
if (strcmp("PWM_DISARMED", node->name) == 0) {
strcpy(node->name, "PWM_MAIN_DISARM");
PX4_INFO("copying %s -> %s", "PWM_DISARMED", "PWM_MAIN_DISARM");
return true;
}
}
// 2021-04-30: translate ASPD_STALL to FW_AIRSPD_STALL
{
if (strcmp("ASPD_STALL", node->name) == 0) {

36
src/lib/pwm/CMakeLists.txt
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@ -1,36 +0,0 @@
############################################################################
#
# Copyright (c) 2021 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.
#
############################################################################
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_main_params.yaml)
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_aux_params.yaml)
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_extra_params.yaml)

101
src/lib/pwm/pwm_aux_params.yaml
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@ -1,101 +0,0 @@
__max_num_config_instances: &max_num_config_instances 8
module_name: pwm_out
parameters:
- group: PWM Outputs
definitions:
PWM_AUX_OUT:
description:
short: PWM channels used as ESC outputs
long: |
Number representing the channels e.g. 134 - Channel 1, 3 and 4.
Global e.g. PWM_AUX_MIN/MAX/DISARM limits only apply to these channels.
type: int32
min: 0
max: 123456789
default: 0
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_DISARM:
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_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/lib/pwm/pwm_extra_params.yaml
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@ -1,147 +0,0 @@
__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

101
src/lib/pwm/pwm_main_params.yaml
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@ -1,101 +0,0 @@
__max_num_config_instances: &max_num_config_instances 14
module_name: pwm_out
parameters:
- group: PWM Outputs
definitions:
PWM_MAIN_OUT:
description:
short: PWM channels used as ESC outputs
long: |
Number representing the channels e.g. 134 - Channel 1, 3 and 4.
Global e.g. PWM_MAIN_MIN/MAX/DISARM limits only apply to these channels.
type: int32
min: 0
max: 123456789
default: 0
PWM_MAIN_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_MAIN_DISARM:
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_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