forked from Archive/PX4-Autopilot
mixer_module: consistent PWM/oneshot calibration range
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@ -490,6 +490,24 @@ MixingOutput::limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updat
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output_limit_calc(_throttle_armed || _actuator_test.inTestMode(), _max_num_outputs, outputs);
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}
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// We must calibrate the PWM and Oneshot ESCs to a consistent range of 1000-2000us (gets mapped to 125-250us for Oneshot)
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// Doing so makes calibrations consistent among different configurations and hence PWM minimum and maximum have a consistent effect
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// hence the defaults for these parameters also make most setups work out of the box
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if (_armed.in_esc_calibration_mode) {
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static constexpr uint16_t PWM_CALIBRATION_LOW = 1000;
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static constexpr uint16_t PWM_CALIBRATION_HIGH = 2000;
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for (int i = 0; i < _max_num_outputs; i++) {
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if (_current_output_value[i] == _min_value[i]) {
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_current_output_value[i] = PWM_CALIBRATION_LOW;
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}
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if (_current_output_value[i] == _max_value[i]) {
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_current_output_value[i] = PWM_CALIBRATION_HIGH;
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}
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}
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}
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/* now return the outputs to the driver */
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if (_interface.updateOutputs(stop_motors, _current_output_value, _max_num_outputs, has_updates)) {
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actuator_outputs_s actuator_outputs{};
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