forked from Archive/PX4-Autopilot
delete remaining PWM_MAIN/PWM_AUX/PWM_EXTRA parameters
This commit is contained in:
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4ec9e2f216
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@ -99,8 +99,6 @@ param set-default MPC_YAWRAUTO_MAX 20
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param set-default NAV_LOITER_RAD 100
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param set-default PWM_AUX_DISARM 950
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param set-default PWM_MAIN_DIS5 1500
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param set-default PWM_MAIN_DIS6 1500
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param set-default PWM_MAIN_DIS7 900
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@ -76,7 +76,6 @@ param set-default NAV_ACC_RAD 3
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param set-default PWM_MAIN_DIS3 1000
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param set-default PWM_MAIN_MIN3 1120
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param set-default PWM_MAIN_MIN 950
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param set-default SENS_BOARD_ROT 4
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@ -24,9 +24,6 @@
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param set-default BAT1_CAPACITY 3300
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param set-default BAT1_N_CELLS 3
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param set-default PWM_AUX_RATE 50
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param set-default PWM_MAIN_RATE 50
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param set-default SENS_BOARD_ROT 4
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param set-default FW_AIRSPD_MAX 20
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@ -80,9 +80,6 @@ param set-default CP_GO_NO_DATA 1
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# Navigator Parameters
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param set-default NAV_ACC_RAD 2
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# use oneshot motor output protocol
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param set-default PWM_MAIN_RATE 0
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# RTL Parameters
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param set-default RTL_DESCEND_ALT 5
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param set-default RTL_RETURN_ALT 5
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@ -44,8 +44,6 @@ param set-default MPC_THR_HOVER 0.25
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param set-default MPC_THR_MIN 0.05
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param set-default MPC_Z_VEL_I_ACC 1.7
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param set-default PWM_MAIN_MIN 1050
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param set-default THR_MDL_FAC 0.3
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param set-default CA_ROTOR_COUNT 4
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@ -32,7 +32,6 @@ param set-default IMU_DGYRO_CUTOFF 90
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param set-default IMU_GYRO_CUTOFF 100
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# System
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param set-default PWM_MAIN_MIN 1100
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param set-default SENS_BOARD_ROT 10
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@ -61,7 +61,6 @@ param set-default IMU_GYRO_CUTOFF 100
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param set-default THR_MDL_FAC 0.25
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# System
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param set-default PWM_MAIN_MIN 1100
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param set-default PWM_MAIN_DIS5 980
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param set-default PWM_MAIN_DIS6 980
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@ -46,8 +46,6 @@ param set-default MIS_DIST_WPS 5000
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param set-default MIS_LTRMIN_ALT 25
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param set-default MIS_TAKEOFF_ALT 25
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param set-default PWM_MAIN_RATE 50
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#
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# FW takeoff acceleration can easily exceed ublox GPS 2G default.
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#
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@ -20,8 +20,4 @@ param set-default NAV_ACC_RAD 2
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param set-default RTL_RETURN_ALT 30
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param set-default RTL_DESCEND_ALT 10
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param set-default PWM_MAIN_MAX 1950
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param set-default PWM_MAIN_MIN 1075
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param set-default PWM_MAIN_RATE 400
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param set-default GPS_UBX_DYNMODEL 6
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@ -9,7 +9,3 @@ set VEHICLE_TYPE uuv
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# MAV_TYPE_SUBMARINE 12
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param set-default MAV_TYPE 12
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param set-default PWM_MAIN_MAX 1950
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param set-default PWM_MAIN_MIN 1050
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param set-default PWM_MAIN_DISARM 1500
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@ -36,9 +36,6 @@ param set-default MC_YAW_P 2
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param set-default MC_YAWRATE_MAX 120
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param set-default MPC_MAN_Y_MAX 90
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param set-default PWM_AUX_RATE 50
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param set-default PWM_MAIN_RATE 400
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param set-default RTL_TYPE 1
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param set-default WV_EN 1
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@ -18,16 +18,6 @@ param set CBRK_SUPPLY_CHK 894281
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# 4001: Generic Quadrotor X; 4011: DJI Flame Wheel F450
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param set SYS_AUTOSTART 4011
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# DJI ESCs do not support calibration and need higher PWM_MIN
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# http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
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# It seems that all latest DJI ESC have the same range.
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# Note that the setting here applies to all PWM channels.
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# param set PWM_MAIN_MIN 1120
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# param set PWM_MAIN_MAX 1920
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# Not using DJI 430 LITE ESC anymore due to its hiccups:
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# each random motor stop would cause a scary flip in the fly
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# Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
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# Broadcast heartbeats on local network. This allows a ground control station
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# to automatically find the drone on the local network.
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@ -18,16 +18,6 @@ param set CBRK_SUPPLY_CHK 894281
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# 4001: Generic Quadrotor X; 4011: DJI Flame Wheel F450
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param set SYS_AUTOSTART 4011
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# DJI ESCs do not support calibration and need higher PWM_MIN
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# http://www.dji.com/e2000/info indicates E2000 Operating Pulse Width: 1120 to 1920 μs
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# It seems that all latest DJI ESC have the same range.
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# Note that the setting here applies to all PWM channels.
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# param set PWM_MAIN_MIN 1120
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# param set PWM_MAIN_MAX 1920
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# Not using DJI 430 LITE ESC anymore due to its hiccups:
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# each random motor stop would cause a scary flip in the fly
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# Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
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# Broadcast heartbeats on local network. This allows a ground control station
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# to automatically find the drone on the local network.
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@ -57,7 +57,6 @@ add_subdirectory(npfg)
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add_subdirectory(perf)
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add_subdirectory(pid)
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add_subdirectory(pid_design)
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add_subdirectory(pwm)
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add_subdirectory(rate_control)
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add_subdirectory(rc)
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add_subdirectory(sensor_calibration)
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@ -109,33 +109,6 @@ bool param_modify_on_import(bson_node_t node)
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}
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}
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// 2021-01-31 (v1.12 alpha): translate PWM_MIN/PWM_MAX/PWM_DISARMED to PWM_MAIN
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{
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if (strcmp("PWM_MIN", node->name) == 0) {
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strcpy(node->name, "PWM_MAIN_MIN");
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PX4_INFO("copying %s -> %s", "PWM_MIN", "PWM_MAIN_MIN");
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return true;
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}
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if (strcmp("PWM_MAX", node->name) == 0) {
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strcpy(node->name, "PWM_MAIN_MAX");
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PX4_INFO("copying %s -> %s", "PWM_MAX", "PWM_MAIN_MAX");
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return true;
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}
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if (strcmp("PWM_RATE", node->name) == 0) {
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strcpy(node->name, "PWM_MAIN_RATE");
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PX4_INFO("copying %s -> %s", "PWM_RATE", "PWM_MAIN_RATE");
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return true;
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}
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if (strcmp("PWM_DISARMED", node->name) == 0) {
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strcpy(node->name, "PWM_MAIN_DISARM");
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PX4_INFO("copying %s -> %s", "PWM_DISARMED", "PWM_MAIN_DISARM");
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return true;
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}
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}
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// 2021-04-30: translate ASPD_STALL to FW_AIRSPD_STALL
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{
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if (strcmp("ASPD_STALL", node->name) == 0) {
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@ -1,36 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2021 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_main_params.yaml)
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_aux_params.yaml)
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_extra_params.yaml)
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@ -1,101 +0,0 @@
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__max_num_config_instances: &max_num_config_instances 8
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module_name: pwm_out
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parameters:
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- group: PWM Outputs
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definitions:
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PWM_AUX_OUT:
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description:
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short: PWM channels used as ESC outputs
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long: |
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Number representing the channels e.g. 134 - Channel 1, 3 and 4.
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Global e.g. PWM_AUX_MIN/MAX/DISARM limits only apply to these channels.
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type: int32
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min: 0
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max: 123456789
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default: 0
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PWM_AUX_RATE:
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description:
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short: PWM aux output frequency
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long: |
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Set to 400 for industry default or 1000 for high frequency ESCs.
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Set to 0 for Oneshot125.
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type: int32
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unit: Hz
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min: -1
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max: 2000
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default: 50
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PWM_AUX_MIN:
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description:
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short: PWM aux minimum value
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long: |
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Set to 1000 for industry default or 900 to increase servo travel.
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type: int32
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unit: us
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min: 800
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max: 1400
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default: 1000
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PWM_AUX_MAX:
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description:
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short: PWM aux maximum value
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long: |
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Set to 2000 for industry default or 2100 to increase servo travel.
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type: int32
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unit: us
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min: 1600
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max: 2200
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default: 2000
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PWM_AUX_DISARM:
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description:
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short: PWM aux disarmed value
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long: |
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This is the PWM pulse the autopilot is outputting if not armed.
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The main use of this parameter is to silence ESCs when they are disarmed.
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type: int32
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unit: us
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min: 0
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max: 2200
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default: 1500
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PWM_AUX_TRIM${i}:
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description:
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short: PWM aux ${i} trim value
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long: |
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Set to normalized offset
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type: float
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min: -0.2
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max: 0.2
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decimal: 2
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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PWM_AUX_REV${i}:
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description:
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short: PWM aux ${i} reverse value
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long: |
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Enable to invert the channel.
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Warning: Use this parameter when connected to a servo only.
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For a brushless motor, invert manually two phases to reverse the direction.
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type: boolean
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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PWM_AUX_RATE${i}:
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description:
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short: PWM aux ${i} rate
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long: |
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Set the default PWM output frequency for the aux outputs
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type: int32
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unit: Hz
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min: 0
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max: 400
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instance_start: 1
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default: 50
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@ -1,147 +0,0 @@
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__max_num_config_instances: &max_num_config_instances 8
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module_name: pwm_out
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parameters:
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- group: PWM Outputs
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definitions:
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PWM_EXTRA_RATE:
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description:
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short: PWM extra output frequency
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long: |
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Set to 400 for industry default or 1000 for high frequency ESCs.
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Set to 0 for Oneshot125.
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type: int32
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unit: Hz
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min: -1
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max: 2000
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default: 50
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PWM_EXTRA_MIN:
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description:
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short: PWM extra minimum value
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long: |
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Set to 1000 for industry default or 900 to increase servo travel.
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type: int32
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unit: us
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min: 800
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max: 1400
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default: 1000
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PWM_EXTRA_MAX:
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description:
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short: PWM extra maximum value
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long: |
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Set to 2000 for industry default or 2100 to increase servo travel.
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type: int32
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unit: us
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min: 1600
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max: 2200
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default: 2000
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PWM_EXTRA_DISARM:
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description:
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short: PWM extra disarmed value
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long: |
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This is the PWM pulse the autopilot is outputting if not armed.
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The main use of this parameter is to silence ESCs when they are disarmed.
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type: int32
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unit: us
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min: 0
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max: 2200
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default: 1500
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PWM_EXTRA_MIN${i}:
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description:
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short: PWM extra ${i} minimum value
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long: |
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This is the minimum PWM pulse the autopilot is allowed to output.
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When set to -1 the value for PWM_EXTRA_MIN will be used
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type: int32
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unit: us
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min: -1
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max: 1600
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_EXTRA_MAX${i}:
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description:
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short: PWM extra ${i} maximum value
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long: |
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This is the maximum PWM pulse the autopilot is allowed to output.
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When set to -1 the value for PWM_EXTRA_MAX will be used
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type: int32
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unit: us
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min: -1
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_EXTRA_FAIL${i}:
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description:
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short: PWM extra ${i} failsafe value
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long: |
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This is the PWM pulse the autopilot is outputting if in failsafe mode.
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When set to -1 the value is set automatically depending if the actuator
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is a motor (900us) or a servo (1500us)
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type: int32
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unit: us
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min: 0
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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PWM_EXTRA_DIS${i}:
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description:
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short: PWM extra ${i} disarmed value
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long: |
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This is the PWM pulse the autopilot is outputting if not armed.
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When set to -1 the value for PWM_EXTRA_DISARM will be used
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type: int32
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unit: us
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min: -1
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_EXTRA_TRIM${i}:
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description:
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short: PWM extra ${i} trim value
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long: |
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Set to normalized offset
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type: float
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min: -0.2
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max: 0.2
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decimal: 2
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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PWM_EXTRA_REV${i}:
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description:
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short: PWM extra ${i} reverse value
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long: |
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Enable to invert the channel.
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Warning: Use this parameter when connected to a servo only.
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For a brushless motor, invert manually two phases to reverse the direction.
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type: boolean
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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PWM_EXTRA_RATE${i}:
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description:
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short: PWM extra ${i} rate
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long: |
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Set the default PWM output frequency for the main outputs
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type: int32
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unit: Hz
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min: 0
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max: 400
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instance_start: 1
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default: 50
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@ -1,101 +0,0 @@
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__max_num_config_instances: &max_num_config_instances 14
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module_name: pwm_out
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parameters:
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- group: PWM Outputs
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definitions:
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PWM_MAIN_OUT:
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description:
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short: PWM channels used as ESC outputs
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long: |
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Number representing the channels e.g. 134 - Channel 1, 3 and 4.
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Global e.g. PWM_MAIN_MIN/MAX/DISARM limits only apply to these channels.
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type: int32
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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
|
Loading…
Reference in New Issue