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mixer_module: consistent PWM/oneshot calibration range

This commit is contained in:
Matthias Grob 2023-06-09 17:05:12 +02:00
parent 8cb7a67819
commit afa56d21c5
1 changed files with 18 additions and 0 deletions
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18
src/lib/mixer_module/mixer_module.cpp
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@ -490,6 +490,24 @@ MixingOutput::limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updat
output_limit_calc(_throttle_armed || _actuator_test.inTestMode(), _max_num_outputs, outputs);
}
// We must calibrate the PWM and Oneshot ESCs to a consistent range of 1000-2000us (gets mapped to 125-250us for Oneshot)
// Doing so makes calibrations consistent among different configurations and hence PWM minimum and maximum have a consistent effect
// hence the defaults for these parameters also make most setups work out of the box
if (_armed.in_esc_calibration_mode) {
static constexpr uint16_t PWM_CALIBRATION_LOW = 1000;
static constexpr uint16_t PWM_CALIBRATION_HIGH = 2000;
for (int i = 0; i < _max_num_outputs; i++) {
if (_current_output_value[i] == _min_value[i]) {
_current_output_value[i] = PWM_CALIBRATION_LOW;
}
if (_current_output_value[i] == _max_value[i]) {
_current_output_value[i] = PWM_CALIBRATION_HIGH;
}
}
}
/* now return the outputs to the driver */
if (_interface.updateOutputs(stop_motors, _current_output_value, _max_num_outputs, has_updates)) {
actuator_outputs_s actuator_outputs{};