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Per channel PWM disarmed values

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This commit is contained in:
sanderux
2017-07-28 15:30:53 +02:00
committed by Lorenz Meier
parent 462f1346bd
commit 220bd82b93
3 changed files with 236 additions and 21 deletions
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ROMFS/px4fmu_common/init.d/rc.interface
+22
View File
@@ -102,6 +102,18 @@ then
fi
fi
#
# Per channel disarmed settings
#
pwm disarmed -c 1 -p p:PWM_MAIN_DIS1
pwm disarmed -c 2 -p p:PWM_MAIN_DIS2
pwm disarmed -c 3 -p p:PWM_MAIN_DIS3
pwm disarmed -c 4 -p p:PWM_MAIN_DIS4
pwm disarmed -c 5 -p p:PWM_MAIN_DIS5
pwm disarmed -c 6 -p p:PWM_MAIN_DIS6
pwm disarmed -c 7 -p p:PWM_MAIN_DIS7
pwm disarmed -c 8 -p p:PWM_MAIN_DIS8
if [ $FAILSAFE != none ]
then
pwm failsafe -d ${OUTPUT_DEV} ${FAILSAFE}
@@ -228,6 +240,16 @@ then
pwm disarmed -c ${PWM_ACHDIS} -p ${PWM_AUX_DISARMED} -d ${OUTPUT_AUX_DEV}
fi
#
# Per channel disarmed settings
#
pwm disarmed -c 1 -p p:PWM_AUX_DIS1 -d ${OUTPUT_AUX_DEV}
pwm disarmed -c 2 -p p:PWM_AUX_DIS2 -d ${OUTPUT_AUX_DEV}
pwm disarmed -c 3 -p p:PWM_AUX_DIS3 -d ${OUTPUT_AUX_DEV}
pwm disarmed -c 4 -p p:PWM_AUX_DIS4 -d ${OUTPUT_AUX_DEV}
pwm disarmed -c 5 -p p:PWM_AUX_DIS5 -d ${OUTPUT_AUX_DEV}
pwm disarmed -c 6 -p p:PWM_AUX_DIS6 -d ${OUTPUT_AUX_DEV}
if [ $FAILSAFE_AUX != none ]
then
pwm failsafe -d ${OUTPUT_AUX_DEV} ${FAILSAFE}
src/modules/sensors/sensor_params.c
+210 -21
View File
@@ -3375,9 +3375,6 @@ PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
/**
* Set the PWM output frequency for the main outputs
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES.
*
* Set to 400 for industry default or 1000 for high frequency ESCs.
*
* Set to 0 for Oneshot125.
@@ -3394,9 +3391,6 @@ PARAM_DEFINE_INT32(PWM_RATE, 400);
/**
* Set the minimum PWM for the main outputs
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES.
*
* Set to 1000 for industry default or 900 to increase servo travel.
*
* @reboot_required true
@@ -3411,9 +3405,6 @@ PARAM_DEFINE_INT32(PWM_MIN, 1000);
/**
* Set the maximum PWM for the main outputs
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES.
*
* Set to 2000 for industry default or 2100 to increase servo travel.
*
* @reboot_required true
@@ -3428,9 +3419,6 @@ PARAM_DEFINE_INT32(PWM_MAX, 2000);
/**
* Set the disarmed PWM for the main outputs
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES.
*
* 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.
*
@@ -3444,10 +3432,217 @@ PARAM_DEFINE_INT32(PWM_MAX, 2000);
PARAM_DEFINE_INT32(PWM_DISARMED, 900);
/**
* Set the minimum PWM for the auxiliary outputs
* Set the disarmed PWM for the main 1 output
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES.
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS1, -1);
/**
* Set the disarmed PWM for the main 2 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS2, -1);
/**
* Set the disarmed PWM for the main 3 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS3, -1);
/**
* Set the disarmed PWM for the main 4 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS4, -1);
/**
* Set the disarmed PWM for the main 5 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS5, -1);
/**
* Set the disarmed PWM for the main 6 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS6, -1);
/**
* Set the disarmed PWM for the main 7 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_DIS7, -1);
/**
* Set the disarmed PWM for the main 8 output
*
* This is the PWM pulse the autopilot is outputting if not armed.
* When set to -1 the value for PWM_DISARMED will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
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
*
* 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 AUX 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 AUX 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 AUX 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 AUX 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 minimum PWM for the auxiliary outputs
*
* Set to 1000 for default or 900 to increase servo travel
*
@@ -3463,9 +3658,6 @@ PARAM_DEFINE_INT32(PWM_AUX_MIN, 1000);
/**
* Set the maximum PWM for the auxiliary outputs
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES.
*
* Set to 2000 for default or 2100 to increase servo travel
*
* @reboot_required true
@@ -3480,9 +3672,6 @@ PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
/**
* Set the disarmed PWM for auxiliary outputs
*
* IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
* REBOOT IN ORDER TO APPLY THE CHANGES.
*
* 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.
*
src/systemcmds/pwm/pwm.cpp
+4
View File
@@ -543,6 +543,10 @@ pwm_main(int argc, char *argv[])
return 1;
}
if (pwm_value < 0) {
return 0;
}
if (pwm_value == 0) {
PX4_WARN("reading disarmed value of zero, disabling disarmed PWM");
}