mc_att_control: copy sensor_correction topic once initially

Signed-off-by: Roman <bapstroman@gmail.com>

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -343,11 +343,7 @@ if [ ${VEHICLE_TYPE} == fw -o ${VEHICLE_TYPE} == vtol ]
 then
 	if param compare CBRK_AIRSPD_CHK 0
 	then
-		if sdp3x_airspeed start
-		then
-		else
-			sdp3x_airspeed start -b 2
-		fi
+		sdp3x_airspeed start -a
 
 		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
 		# detected as MS5525 because the chip manufacturer was so
@@ -357,20 +353,13 @@ then
 		then
 			ms5525_airspeed start -b 2
 		else
-			ms5525_airspeed start
+			ms5525_airspeed start -a
 		fi
 
-		if ms4525_airspeed start
-		then
-		else
-			ms4525_airspeed start -b 2
-		fi
+		ms4525_airspeed start -a
+
+		ets_airspeed start -a
 
-		if ets_airspeed start
-		then
-		else
-			ets_airspeed start -b 1
-		fi
 	fi
 fi
 

src/drivers/differential_pressure/ets/ets_airspeed.cpp

@@ -239,19 +239,58 @@ namespace ets_airspeed
 
 ETSAirspeed	*g_dev;
 
-int start(int i2c_bus);
+int bus_options[] = {
+#ifdef PX4_I2C_BUS_EXPANSION
+	PX4_I2C_BUS_EXPANSION,
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION1
+	PX4_I2C_BUS_EXPANSION1,
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION2
+	PX4_I2C_BUS_EXPANSION2,
+#endif
+#ifdef PX4_I2C_BUS_ONBOARD
+	PX4_I2C_BUS_ONBOARD,
+#endif
+};
+
+#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
+
+int start();
+int start_bus(int i2c_bus);
 int stop();
 int reset();
 int info();
 
 /**
- * Start the driver.
+ * Attempt to start driver on all available I2C busses.
+ *
+ * This function will return as soon as the first sensor
+ * is detected on one of the available busses or if no
+ * sensors are detected.
+ *
+ */
+int
+start()
+{
+	for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
+		if (start_bus(bus_options[i]) == PX4_OK) {
+			return PX4_OK;
+		}
+	}
+
+	return PX4_ERROR;
+
+}
+
+/**
+ * Start the driver on a specific bus.
  *
  * This function only returns if the sensor is up and running
  * or could not be detected successfully.
  */
 int
-start(int i2c_bus)
+start_bus(int i2c_bus)
 {
 	int fd;
 
@@ -349,6 +388,7 @@ ets_airspeed_usage()
 	PX4_INFO("usage: ets_airspeed command [options]");
 	PX4_INFO("options:");
 	PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
+	PX4_INFO("\t-a --all");
 	PX4_INFO("command:");
 	PX4_INFO("\tstart|stop|reset|info");
 }
@@ -361,13 +401,18 @@ ets_airspeed_main(int argc, char *argv[])
 	int myoptind = 1;
 	int ch;
 	const char *myoptarg = nullptr;
+	bool start_all = false;
 
-	while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "ab:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'b':
 			i2c_bus = atoi(myoptarg);
 			break;
 
+		case 'a':
+			start_all = true;
+			break;
+
 		default:
 			ets_airspeed_usage();
 			return 0;
@@ -383,7 +428,12 @@ ets_airspeed_main(int argc, char *argv[])
 	 * Start/load the driver.
 	 */
 	if (!strcmp(argv[myoptind], "start")) {
-		return ets_airspeed::start(i2c_bus);
+		if (start_all) {
+			return ets_airspeed::start();
+
+		} else {
+			return ets_airspeed::start_bus(i2c_bus);
+		}
 	}
 
 	/*

src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp

@@ -81,6 +81,7 @@
 #define MEAS_DRIVER_FILTER_FREQ 1.2f
 #define CONVERSION_INTERVAL	(1000000 / MEAS_RATE)	/* microseconds */
 
+
 class MEASAirspeed : public Airspeed
 {
 public:
@@ -373,18 +374,57 @@ namespace meas_airspeed
 
 MEASAirspeed	*g_dev = nullptr;
 
-int start(int i2c_bus);
+int bus_options[] = {
+#ifdef PX4_I2C_BUS_EXPANSION
+	PX4_I2C_BUS_EXPANSION,
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION1
+	PX4_I2C_BUS_EXPANSION1,
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION2
+	PX4_I2C_BUS_EXPANSION2,
+#endif
+#ifdef PX4_I2C_BUS_ONBOARD
+	PX4_I2C_BUS_ONBOARD,
+#endif
+};
+
+#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
+
+int start();
+int start_bus(int i2c_bus);
 int stop();
 int reset();
 
 /**
- * Start the driver.
+* Attempt to start driver on all available I2C busses.
+*
+* This function will return as soon as the first sensor
+* is detected on one of the available busses or if no
+* sensors are detected.
+*
+*/
+int
+start()
+{
+	for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
+		if (start_bus(bus_options[i]) == PX4_OK) {
+			return PX4_OK;
+		}
+	}
+
+	return PX4_ERROR;
+
+}
+
+/**
+ * Start the driver on a specific bus.
  *
  * This function call only returns once the driver is up and running
  * or failed to detect the sensor.
  */
 int
-start(int i2c_bus)
+start_bus(int i2c_bus)
 {
 	int fd;
 
@@ -483,6 +523,7 @@ meas_airspeed_usage()
 	PX4_INFO("usage: meas_airspeed command [options]");
 	PX4_INFO("options:");
 	PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
+	PX4_INFO("\t-a --all");
 	PX4_INFO("command:");
 	PX4_INFO("\tstart|stop|reset");
 }
@@ -496,12 +537,18 @@ ms4525_airspeed_main(int argc, char *argv[])
 	int ch;
 	const char *myoptarg = nullptr;
 
-	while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
+	bool start_all = false;
+
+	while ((ch = px4_getopt(argc, argv, "ab:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'b':
 			i2c_bus = atoi(myoptarg);
 			break;
 
+		case 'a':
+			start_all = true;
+			break;
+
 		default:
 			meas_airspeed_usage();
 			return 0;
@@ -517,7 +564,13 @@ ms4525_airspeed_main(int argc, char *argv[])
 	 * Start/load the driver.
 	 */
 	if (!strcmp(argv[myoptind], "start")) {
-		return meas_airspeed::start(i2c_bus);
+		if (start_all) {
+			return meas_airspeed::start();
+
+		} else {
+			return meas_airspeed::start_bus(i2c_bus);
+		}
+
 	}
 
 	/*

src/drivers/differential_pressure/ms5525/MS5525_main.cpp

@@ -43,15 +43,56 @@ namespace ms5525_airspeed
 {
 MS5525 *g_dev = nullptr;
 
-int start(uint8_t i2c_bus);
+int bus_options[] = {
+#ifdef PX4_I2C_BUS_EXPANSION
+	PX4_I2C_BUS_EXPANSION,
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION1
+	PX4_I2C_BUS_EXPANSION1,
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION2
+	PX4_I2C_BUS_EXPANSION2,
+#endif
+#ifdef PX4_I2C_BUS_ONBOARD
+	PX4_I2C_BUS_ONBOARD,
+#endif
+};
+
+#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
+
+int start();
+int start_bus(uint8_t i2c_bus);
 int stop();
 int reset();
 
-// Start the driver.
-// This function call only returns once the driver is up and running
-// or failed to detect the sensor.
+/**
+* Attempt to start driver on all available I2C busses.
+*
+* This function will return as soon as the first sensor
+* is detected on one of the available busses or if no
+* sensors are detected.
+*
+*/
 int
-start(uint8_t i2c_bus)
+start()
+{
+	for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
+		if (start_bus(bus_options[i]) == PX4_OK) {
+			return PX4_OK;
+		}
+	}
+
+	return PX4_ERROR;
+}
+
+/**
+ * Start the driver on a specific bus.
+ *
+ * This function call only returns once the driver is up and running
+ * or failed to detect the sensor.
+ */
+int
+start_bus(uint8_t i2c_bus)
 {
 	int fd = -1;
 
@@ -141,11 +182,12 @@ int reset()
 static void
 ms5525_airspeed_usage()
 {
-	PX4_WARN("usage: ms5525_airspeed command [options]");
-	PX4_WARN("options:");
-	PX4_WARN("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
-	PX4_WARN("command:");
-	PX4_WARN("\tstart|stop|reset");
+	PX4_INFO("usage: ms5525_airspeed command [options]");
+	PX4_INFO("options:");
+	PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
+	PX4_INFO("\t-a --all");
+	PX4_INFO("command:");
+	PX4_INFO("\tstart|stop|reset");
 }
 
 int
@@ -156,13 +198,18 @@ ms5525_airspeed_main(int argc, char *argv[])
 	int myoptind = 1;
 	int ch;
 	const char *myoptarg = nullptr;
+	bool start_all = false;
 
-	while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "ab:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'b':
 			i2c_bus = atoi(myoptarg);
 			break;
 
+		case 'a':
+			start_all = true;
+			break;
+
 		default:
 			ms5525_airspeed_usage();
 			return 0;
@@ -178,7 +225,12 @@ ms5525_airspeed_main(int argc, char *argv[])
 	 * Start/load the driver.
 	 */
 	if (!strcmp(argv[myoptind], "start")) {
-		return ms5525_airspeed::start(i2c_bus);
+		if (start_all) {
+			return ms5525_airspeed::start();
+
+		} else {
+			return ms5525_airspeed::start_bus(i2c_bus);
+		}
 	}
 
 	/*

src/drivers/differential_pressure/sdp3x/SDP3X_main.cpp

@@ -42,15 +42,56 @@ namespace sdp3x_airspeed
 {
 SDP3X *g_dev = nullptr;
 
-int start(uint8_t i2c_bus);
+int bus_options[] = {
+#ifdef PX4_I2C_BUS_EXPANSION
+	PX4_I2C_BUS_EXPANSION,
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION1
+	PX4_I2C_BUS_EXPANSION1,
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION2
+	PX4_I2C_BUS_EXPANSION2,
+#endif
+#ifdef PX4_I2C_BUS_ONBOARD
+	PX4_I2C_BUS_ONBOARD,
+#endif
+};
+
+#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
+
+int start();
+int start_bus(uint8_t i2c_bus);
 int stop();
 int reset();
 
-// Start the driver.
-// This function call only returns once the driver is up and running
-// or failed to detect the sensor.
+/**
+ * Attempt to start driver on all available I2C busses.
+ *
+ * This function will return as soon as the first sensor
+ * is detected on one of the available busses or if no
+ * sensors are detected.
+ *
+ */
 int
-start(uint8_t i2c_bus)
+start()
+{
+	for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
+		if (start_bus(bus_options[i]) == PX4_OK) {
+			return PX4_OK;
+		}
+	}
+
+	return PX4_ERROR;
+}
+
+/**
+ * Start the driver on a specific bus.
+ *
+ * This function call only returns once the driver is up and running
+ * or failed to detect the sensor.
+ */
+int
+start_bus(uint8_t i2c_bus)
 {
 	int fd = -1;
 
@@ -153,11 +194,12 @@ int reset()
 static void
 sdp3x_airspeed_usage()
 {
-	PX4_WARN("usage: sdp3x_airspeed command [options]");
-	PX4_WARN("options:");
-	PX4_WARN("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
-	PX4_WARN("command:");
-	PX4_WARN("\tstart|stop|reset");
+	PX4_INFO("usage: sdp3x_airspeed command [options]");
+	PX4_INFO("options:");
+	PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
+	PX4_INFO("\t-a --all");
+	PX4_INFO("command:");
+	PX4_INFO("\tstart|stop|reset");
 }
 
 int
@@ -168,13 +210,18 @@ sdp3x_airspeed_main(int argc, char *argv[])
 	int myoptind = 1;
 	int ch;
 	const char *myoptarg = nullptr;
+	bool start_all = false;
 
-	while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "ab:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'b':
 			i2c_bus = atoi(myoptarg);
 			break;
 
+		case 'a':
+			start_all = true;
+			break;
+
 		default:
 			sdp3x_airspeed_usage();
 			return 0;
@@ -191,7 +238,12 @@ sdp3x_airspeed_main(int argc, char *argv[])
 	 * Start/load the driver.
 	 */
 	if (!strcmp(argv[myoptind], "start")) {
-		return sdp3x_airspeed::start(i2c_bus);
+		if (start_all) {
+			return sdp3x_airspeed::start();
+
+		} else {
+			return sdp3x_airspeed::start_bus(i2c_bus);
+		}
 	}
 
 	/*

src/drivers/px4fmu/fmu.cpp

@@ -515,8 +515,6 @@ PX4FMU::init()
 	/* initialize PWM limit lib */
 	pwm_limit_init(&_pwm_limit);
 
-	update_pwm_rev_mask();
-
 #ifdef RC_SERIAL_PORT
 
 #  ifdef RF_RADIO_POWER_CONTROL
@@ -537,12 +535,6 @@ PX4FMU::init()
 	// Getting initial parameter values
 	update_params();
 
-	for (unsigned i = 0; i < _max_actuators; i++) {
-		char pname[16];
-		sprintf(pname, "PWM_AUX_TRIM%d", i + 1);
-		param_find(pname);
-	}
-
 	return 0;
 }
 
@@ -926,15 +918,28 @@ PX4FMU::update_pwm_rev_mask()
 {
 	_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 < _max_actuators; i++) {
 		char pname[16];
-		int32_t ival;
 
 		/* fill the channel reverse mask from parameters */
-		sprintf(pname, "PWM_AUX_REV%d", i + 1);
+		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;
 		}
@@ -950,15 +955,28 @@ PX4FMU::update_pwm_trims()
 
 		int16_t values[_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 < _max_actuators; i++) {
 			char pname[16];
-			float pval;
 
 			/* fill the struct from parameters */
-			sprintf(pname, "PWM_AUX_TRIM%d", i + 1);
+			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]);

src/drivers/px4fmu/px4fmu_params.c

@@ -31,165 +31,6 @@
  *
  ****************************************************************************/
 
-/**
- * Invert direction of aux output channel 1
- *
- * Enable to invert the channel.
- *
- * @boolean
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);
-
-/**
- * Invert direction of aux output channel 2
- *
- * Enable to invert the channel.
- *
- * @boolean
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);
-
-/**
- * Invert direction of aux output channel 3
- *
- * Enable to invert the channel.
- *
- * @boolean
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);
-
-/**
- * Invert direction of aux output channel 4
- *
- * Enable to invert the channel.
- *
- * @boolean
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);
-
-/**
- * Invert direction of aux output channel 5
- *
- * Enable to invert the channel.
- *
- * @boolean
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);
-
-/**
- * Invert direction of aux output channel 6
- *
- * Enable to invert the channel.
- *
- * @boolean
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_AUX_REV6, 0);
-
-/**
- * Trim value for FMU PWM 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 FMU PWM 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 FMU PWM 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 FMU PWM 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 FMU PWM 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 FMU PWM 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);
-
-/**
- * Thrust to PWM model parameter
- *
- * Parameter used to model the relationship between static thrust and motor
- * input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2
- *
- * @min 0.0
- * @max 1.0
- * @group PWM Outputs
- */
-PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);
-
-/**
- * Minimum motor rise time (slew rate limit).
- *
- * Minimum time allowed for the motor input signal to pass through
- * a range of 1000 PWM units. A value x means that the motor signal
- * can only go from 1000 to 2000 PWM in maximum x seconds.
- *
- * Zero means that slew rate limiting is disabled.
- *
- * @min 0.0
- * @unit s/(1000*PWM)
- * @group PWM Outputs
- */
-PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);
-
 /**
  * Motor Ordering
  *

src/drivers/px4io/px4io_params.c

@@ -55,182 +55,6 @@
  */
 PARAM_DEFINE_INT32(SYS_USE_IO, 1);
 
-/**
- * Invert direction of main output channel 1
- *
- * Enable to invert the channel.
- *
- * @boolean
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_MAIN_REV1, 0);
-
-/**
- * Invert direction of main output channel 2
- *
- * Enable to invert the channel.
- *
- * @boolean
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_MAIN_REV2, 0);
-
-/**
- * Invert direction of main output channel 3
- *
- * Enable to invert the channel.
- *
- * @boolean
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_MAIN_REV3, 0);
-
-/**
- * Invert direction of main output channel 4
- *
- * Enable to invert the channel.
- *
- * @boolean
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_MAIN_REV4, 0);
-
-/**
- * Invert direction of main output channel 5
- *
- * Enable to invert the channel.
- *
- * @boolean
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_MAIN_REV5, 0);
-
-/**
- * Invert direction of main output channel 6
- *
- * Enable to invert the channel.
- *
- * @boolean
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_MAIN_REV6, 0);
-
-/**
- * Invert direction of main output channel 7
- *
- * Enable to invert the channel.
- *
- * @boolean
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
-
-/**
- * Invert direction of main output channel 8
- *
- * Enable to invert the channel.
- *
- * @boolean
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0);
-
-/**
- * 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);
-
 /**
  * S.BUS out
  *

src/drivers/tap_esc/tap_esc.cpp

@@ -723,7 +723,7 @@ int TAP_ESC::task_spawn(int argc, char *argv[])
 	_task_id = px4_task_spawn_cmd("tap_esc",
 				      SCHED_DEFAULT,
 				      SCHED_PRIORITY_ACTUATOR_OUTPUTS,
-				      1100,
+				      1180,
 				      (px4_main_t)&run_trampoline,
 				      argv);
 

src/lib/version/CMakeLists.txt

@@ -65,10 +65,9 @@ set_source_files_properties(${px4_git_ver_header} PROPERTIES GENERATED TRUE)
 add_custom_target(ver_gen ALL DEPENDS ${px4_git_ver_header})
 
 # The URL for the elf file for crash logging
+set(BUILD_URI "localhost")
 if (DEFINED ENV{BUILD_URI})
 	set(BUILD_URI $ENV{BUILD_URI})
-else()
-	set(BUILD_URI "localhost")
 endif()
 
 add_definitions(-DBUILD_URI=${BUILD_URI})

src/modules/mavlink/mavlink_main.cpp

@@ -516,9 +516,20 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
 		if (inst != self) {
 			const mavlink_msg_entry_t *meta = mavlink_get_msg_entry(msg->msgid);
 
-			// Extract target system and target component if set
-			unsigned target_system_id = (meta->target_system_ofs != 0) ? ((uint8_t *)msg)[meta->target_system_ofs] : 0;
-			unsigned target_component_id = (meta->target_component_ofs != 0) ? ((uint8_t *)msg)[meta->target_component_ofs] : 233;
+			int target_system_id = 0;
+			int target_component_id = 233;
+
+			// might be nullptr if message is unknown
+			if (meta) {
+				// Extract target system and target component if set
+				if (meta->target_system_ofs != 0) {
+					target_system_id = ((uint8_t *)msg)[meta->target_system_ofs];
+				}
+
+				if (meta->target_component_ofs != 0) {
+					target_component_id = ((uint8_t *)msg)[meta->target_component_ofs];
+				}
+			}
 
 			// Broadcast or addressing this system and not trying to talk
 			// to the autopilot component -> pass on to other components

src/modules/mavlink/mavlink_messages.cpp

@@ -1023,9 +1023,6 @@ public:
 	}
 
 private:
-	MavlinkOrbSubscription *_att_sub;
-	uint64_t _att_time;
-
 	MavlinkOrbSubscription *_pos_sub;
 	uint64_t _pos_time;
 
@@ -1046,8 +1043,6 @@ private:
 
 protected:
 	explicit MavlinkStreamVFRHUD(Mavlink *mavlink) : MavlinkStream(mavlink),
-		_att_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_attitude))),
-		_att_time(0),
 		_pos_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_local_position))),
 		_pos_time(0),
 		_armed_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_armed))),
@@ -1061,24 +1056,20 @@ protected:
 
 	bool send(const hrt_abstime t)
 	{
-		vehicle_attitude_s att = {};
 		vehicle_local_position_s pos = {};
 		actuator_armed_s armed = {};
 		airspeed_s airspeed = {};
 
-
 		bool updated = false;
-		updated |= _att_sub->update(&_att_time, &att);
 		updated |= _pos_sub->update(&_pos_time, &pos);
 		updated |= _armed_sub->update(&_armed_time, &armed);
 		updated |= _airspeed_sub->update(&_airspeed_time, &airspeed);
 
 		if (updated) {
 			mavlink_vfr_hud_t msg = {};
-			matrix::Eulerf euler = matrix::Quatf(att.q);
 			msg.airspeed = airspeed.indicated_airspeed_m_s;
 			msg.groundspeed = sqrtf(pos.vx * pos.vx + pos.vy * pos.vy);
-			msg.heading = math::degrees(euler.psi());
+			msg.heading = math::degrees(wrap_2pi(pos.yaw));
 
 			if (armed.armed) {
 				actuator_controls_s act0 = {};
@@ -1791,7 +1782,7 @@ protected:
 			msg.vy = lpos.vy * 100.0f;
 			msg.vz = lpos.vz * 100.0f;
 
-			msg.hdg = math::degrees(lpos.yaw) * 100.0f;
+			msg.hdg = math::degrees(wrap_2pi(lpos.yaw)) * 100.0f;
 
 			mavlink_msg_global_position_int_send_struct(_mavlink->get_channel(), &msg);
 
@@ -3958,9 +3949,9 @@ protected:
 
 			mavlink_mount_orientation_t msg = {};
 
-			msg.roll = 180.0f / M_PI_F * mount_orientation.attitude_euler_angle[0];
-			msg.pitch = 180.0f / M_PI_F * mount_orientation.attitude_euler_angle[1];
-			msg.yaw = 180.0f / M_PI_F * mount_orientation.attitude_euler_angle[2];
+			msg.roll = math::degrees(mount_orientation.attitude_euler_angle[0]);
+			msg.pitch = math::degrees(mount_orientation.attitude_euler_angle[1]);
+			msg.yaw = math::degrees(mount_orientation.attitude_euler_angle[2]);
 
 			mavlink_msg_mount_orientation_send_struct(_mavlink->get_channel(), &msg);
 

src/modules/mavlink/mavlink_ulog.cpp

@@ -60,6 +60,15 @@ MavlinkULog::MavlinkULog(int datarate, float max_rate_factor, uint8_t target_sys
 
 	if (_ulog_stream_sub < 0) {
 		PX4_ERR("orb_subscribe failed (%i)", errno);
+
+	} else {
+		// make sure we won't read any old messages
+		struct ulog_stream_s stream_msg;
+		bool update;
+
+		while (orb_check(_ulog_stream_sub, &update) == 0 && update) {
+			orb_copy(ORB_ID(ulog_stream), _ulog_stream_sub, &stream_msg);
+		}
 	}
 
 	_waiting_for_initial_ack = true;
@@ -264,7 +273,7 @@ void MavlinkULog::publish_ack(uint16_t sequence)
 	ack.sequence = sequence;
 
 	if (_ulog_stream_ack_pub == nullptr) {
-		_ulog_stream_ack_pub = orb_advertise_queue(ORB_ID(ulog_stream_ack), &ack, 3);
+		_ulog_stream_ack_pub = orb_advertise(ORB_ID(ulog_stream_ack), &ack);
 
 	} else {
 		orb_publish(ORB_ID(ulog_stream_ack), _ulog_stream_ack_pub, &ack);

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -613,6 +613,14 @@ MulticopterAttitudeControl::run()
 	}
 
 	_sensor_correction_sub = orb_subscribe(ORB_ID(sensor_correction));
+
+	// sensor correction topic is not being published regularly and we might have missed the first update.
+	// so copy it once initially so that we have the latest data. In future this will not be needed anymore as the
+	// behavior of the orb_check function will change
+	if (_sensor_correction_sub > 0) {
+		orb_copy(ORB_ID(sensor_correction), _sensor_correction_sub, &_sensor_correction);
+	}
+
 	_sensor_bias_sub = orb_subscribe(ORB_ID(sensor_bias));
 
 	/* wakeup source: gyro data from sensor selected by the sensor app */

src/modules/navigator/mission.cpp

@@ -1297,8 +1297,15 @@ Mission::altitude_sp_foh_update()
 		return;
 	}
 
+	// Calculate acceptance radius, i.e. the radius within which we do not perform a first order hold anymore
+	float acc_rad = _navigator->get_acceptance_radius(_mission_item.acceptance_radius);
+
+	if (pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
+		acc_rad = _navigator->get_acceptance_radius(fabsf(_mission_item.loiter_radius) * 1.2f);
+	}
+
 	/* Do not try to find a solution if the last waypoint is inside the acceptance radius of the current one */
-	if (_distance_current_previous - _navigator->get_acceptance_radius(_mission_item.acceptance_radius) < FLT_EPSILON) {
+	if (_distance_current_previous - acc_rad < FLT_EPSILON) {
 		return;
 	}
 
@@ -1327,7 +1334,7 @@ Mission::altitude_sp_foh_update()
 
 	/* if the minimal distance is smaller then the acceptance radius, we should be at waypoint alt
 	 * navigator will soon switch to the next waypoint item (if there is one) as soon as we reach this altitude */
-	if (_min_current_sp_distance_xy < _navigator->get_acceptance_radius(_mission_item.acceptance_radius)) {
+	if (_min_current_sp_distance_xy < acc_rad) {
 		pos_sp_triplet->current.alt = get_absolute_altitude_for_item(_mission_item);
 
 	} else {
@@ -1337,8 +1344,7 @@ Mission::altitude_sp_foh_update()
 		 * radius around the current waypoint
 		 **/
 		float delta_alt = (get_absolute_altitude_for_item(_mission_item) - pos_sp_triplet->previous.alt);
-		float grad = -delta_alt / (_distance_current_previous - _navigator->get_acceptance_radius(
-						   _mission_item.acceptance_radius));
+		float grad = -delta_alt / (_distance_current_previous - acc_rad);
 		float a = pos_sp_triplet->previous.alt - grad * _distance_current_previous;
 		pos_sp_triplet->current.alt = a + grad * _min_current_sp_distance_xy;
 	}

src/modules/sensors/motor_params.c

@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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 motor_params.c
+ *
+ * Parameters for motors.
+ *
+ */
+
+
+/**
+ * Minimum motor rise time (slew rate limit).
+ *
+ * Minimum time allowed for the motor input signal to pass through
+ * a range of 1000 PWM units. A value x means that the motor signal
+ * can only go from 1000 to 2000 PWM in maximum x seconds.
+ *
+ * Zero means that slew rate limiting is disabled.
+ *
+ * @min 0.0
+ * @unit s/(1000*PWM)
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);
+
+/**
+ * Thrust to PWM model parameter
+ *
+ * Parameter used to model the relationship between static thrust and motor
+ * input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);

src/modules/sensors/pwm_params_aux.c

@@ -0,0 +1,406 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ */
+
+/**
+ * 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);
+
+
+
+
+/**
+ * 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);
+
+
+
+
+/**
+ * Invert direction of auxiliary output channel 1
+ *
+ * Enable to invert the channel.
+ *
+ * @boolean
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);
+
+/**
+ * Invert direction of auxiliary output channel 2
+ *
+ * Enable to invert the channel.
+ *
+ * @boolean
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);
+
+/**
+ * Invert direction of auxiliary output channel 3
+ *
+ * Enable to invert the channel.
+ *
+ * @boolean
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);
+
+/**
+ * Invert direction of auxiliary output channel 4
+ *
+ * Enable to invert the channel.
+ *
+ * @boolean
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);
+
+/**
+ * Invert direction of auxiliary output channel 5
+ *
+ * Enable to invert the channel.
+ *
+ * @boolean
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);
+
+/**
+ * Invert direction of auxiliary output channel 6
+ *
+ * Enable to invert the channel.
+ *
+ * @boolean
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV6, 0);
+
+/**
+ * Invert direction of auxiliary output channel 7
+ *
+ * Enable to invert the channel.
+ *
+ * @boolean
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV7, 0);
+
+/**
+ * Invert direction of auxiliary output channel 8
+ *
+ * Enable to invert the channel.
+ *
+ * @boolean
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_REV8, 0);
+
+
+
+
+/**
+ * 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);
+
+
+

src/modules/sensors/pwm_params_main.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file pwm_params.c
+ * @file pwm_params_main.c
  *
  * Parameters defined for PWM output.
  *
@@ -97,6 +97,9 @@ PARAM_DEFINE_INT32(PWM_MAX, 2000);
  */
 PARAM_DEFINE_INT32(PWM_DISARMED, 900);
 
+
+
+
 /**
  * Set the disarmed PWM for the main 1 output
  *
@@ -217,135 +220,187 @@ PARAM_DEFINE_INT32(PWM_MAIN_DIS7, -1);
  */
 PARAM_DEFINE_INT32(PWM_MAIN_DIS8, -1);
 
-/**
- * Set the disarmed PWM for the AUX 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 AUX 2 output
+ * Invert direction of main output channel 1
  *
- * 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
+ * Enable to invert the channel.
  *
- * @reboot_required true
- *
- * @min -1
- * @max 2200
- * @unit us
+ * @boolean
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_AUX_DIS2, -1);
+PARAM_DEFINE_INT32(PWM_MAIN_REV1, 0);
 
 /**
- * Set the disarmed PWM for the AUX 3 output
+ * Invert direction of main output channel 2
  *
- * 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
+ * Enable to invert the channel.
  *
- * @reboot_required true
- *
- * @min -1
- * @max 2200
- * @unit us
+ * @boolean
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_AUX_DIS3, -1);
+PARAM_DEFINE_INT32(PWM_MAIN_REV2, 0);
 
 /**
- * Set the disarmed PWM for the AUX 4 output
+ * Invert direction of main output channel 3
  *
- * 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
+ * Enable to invert the channel.
  *
- * @reboot_required true
- *
- * @min -1
- * @max 2200
- * @unit us
+ * @boolean
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_AUX_DIS4, -1);
+PARAM_DEFINE_INT32(PWM_MAIN_REV3, 0);
 
 /**
- * Set the disarmed PWM for the AUX 5 output
+ * Invert direction of main output channel 4
  *
- * 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
+ * Enable to invert the channel.
  *
- * @reboot_required true
- *
- * @min -1
- * @max 2200
- * @unit us
+ * @boolean
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_AUX_DIS5, -1);
+PARAM_DEFINE_INT32(PWM_MAIN_REV4, 0);
 
 /**
- * Set the disarmed PWM for the AUX 6 output
+ * Invert direction of main output channel 5
  *
- * 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
+ * Enable to invert the channel.
  *
- * @reboot_required true
- *
- * @min -1
- * @max 2200
- * @unit us
+ * @boolean
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_AUX_DIS6, -1);
+PARAM_DEFINE_INT32(PWM_MAIN_REV5, 0);
 
 /**
- * Set the minimum PWM for the auxiliary outputs
+ * Invert direction of main output channel 6
  *
- * Set to 1000 for default or 900 to increase servo travel
+ * Enable to invert the channel.
  *
- * @reboot_required true
- *
- * @min 800
- * @max 1400
- * @unit us
+ * @boolean
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_AUX_MIN, 1000);
+PARAM_DEFINE_INT32(PWM_MAIN_REV6, 0);
 
 /**
- * Set the maximum PWM for the auxiliary outputs
+ * Invert direction of main output channel 7
  *
- * Set to 2000 for default or 2100 to increase servo travel
+ * Enable to invert the channel.
  *
- * @reboot_required true
- *
- * @min 1600
- * @max 2200
- * @unit us
+ * @boolean
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
+PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
 
 /**
- * Set the disarmed PWM for auxiliary outputs
+ * Invert direction of main output channel 8
  *
- * 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.
+ * Enable to invert the channel.
  *
- * @reboot_required true
- *
- * @min 0
- * @max 2200
- * @unit us
+ * @boolean
  * @group PWM Outputs
  */
-PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1500);
+PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0);
+
+
+
+
+/**
+ * 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);
+
+
+