move clamping and reorder values

Tools/module_config/generate_actuators_metadata.py

@@ -237,8 +237,8 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
             ( 'function', 'Function', 'FUNC', False ),
             ( 'disarmed', 'Disarmed', 'DIS', False ),
             ( 'min', 'Minimum', 'MIN', False ),
-            ( 'center', 'Center', 'CENT', False ),
             ( 'max', 'Maximum', 'MAX', False ),
+            ( 'center', 'Center\n(for Servos)', 'CENT', False ),
             ( 'failsafe', 'Failsafe', 'FAIL', True ),
             ]
         for key, label, param_suffix, advanced in standard_params_array:

Tools/module_config/generate_params.py

@@ -286,7 +286,7 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''Minimum output value (when not disarmed).
 '''
         center_description = \
-'''Center output value (when not disarmed).
+'''Servo Center output value (when not disarmed).
 '''
         maximum_description = \
 '''Maxmimum output value (when not disarmed).
@@ -316,6 +316,10 @@ When set to -1 (default), the value depends on the function (see {:}).
                     standard_params[key]['default'] = -1
                     standard_params[key]['min'] = -1
 
+                if key == 'center':
+                    standard_params[key]['default'] = -1
+                    standard_params[key]['min'] = -1
+
                 param = {
                     'description': {
                         'short': channel_label+' ${i} '+label+' Value',

src/drivers/pwm_out/module.yaml

@@ -7,8 +7,8 @@ actuator_output:
       standard_params:
         disarmed: { min: 800, max: 2200, default: 1000 }
         min: { min: 800, max: 1400, default: 1000 }
-        center: { min: 800, max: 2200, default: 1500 }
         max: { min: 1600, max: 2200, default: 2000 }
+        center: { min: 800, max: 2200, default: -1 }
         failsafe: { min: 800, max: 2200 }
       extra_function_groups: [ pwm_fmu ]
       pwm_timer_param:

src/lib/mixer_module/mixer_module.cpp

@@ -189,8 +189,6 @@ void MixingOutput::updateParams()
 			_max_value[i] = tmp;
 		}
 
-		// Center needs to be clamped to min/max
-		_center_value[i] = math::constrain(_center_value[i], _min_value[i], _max_value[i]);
 
 		if (_param_handles[i].failsafe != PARAM_INVALID && param_get(_param_handles[i].failsafe, &val) == 0) {
 			_failsafe_value[i] = val;
@@ -549,7 +547,9 @@ uint16_t MixingOutput::output_limit_calc_single(int i, float value) const
 
 	if (_function_assignment[i] >= OutputFunction::Servo1
 	    && _function_assignment[i] <= OutputFunction::ServoMax
-	    && _param_handles[i].center != PARAM_INVALID) {
+	    && _param_handles[i].center != PARAM_INVALID
+	    && _center_value[i] >= 800
+	    && _center_value[i] <= 2200) {
 
 		/* bi-linear interpolation */
 		if (value < 0.0f) {
@@ -561,7 +561,10 @@ uint16_t MixingOutput::output_limit_calc_single(int i, float value) const
 						   static_cast<float>(_center_value[i]), static_cast<float>(_max_value[i]));
 		}
 
-	} else {
+	}
+
+	// Everything except servos, or if center is not set
+	else {
 		output = math::interpolate(value, -1.f, 1.f,
 					   static_cast<float>(_min_value[i]), static_cast<float>(_max_value[i]));
 	}

src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp

@@ -74,7 +74,7 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
 		return;
 	}
 
-	// Helper to check if a PWM center parameter is set to non-default value (1500 µs)
+	// Helper to check if a PWM center parameter is enabled, and clamp it to valid range
 	auto check_pwm_center = [](const char *prefix, int channel) -> bool {
 		char param_name[20];
 		snprintf(param_name, sizeof(param_name), "%s_CENT%d", prefix, channel);
@@ -83,7 +83,17 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
 		if (param != PARAM_INVALID)
 		{
 			int32_t value;
-			return (param_get(param, &value) == PX4_OK && value != 1500);
+
+			if (param_get(param, &value) == PX4_OK && value != -1) {
+				// Clamp PWM center to valid range [800, 2200]
+				if (value < 800 || value > 2200) {
+					int32_t clamped = (value < 800) ? 800 : 2200;
+					PX4_WARN("%s_CENT%d (%d) out of range, clamping to %d", prefix, channel, (int)value, (int)clamped);
+					param_set(param, &clamped);
+				}
+
+				return true;
+			}
 		}
 
 		return false;
@@ -92,8 +102,10 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
 	// Check if any PWM_MAIN or PWM_AUX center is configured
 	bool pwm_center_set = false;
 
-	for (int i = 1; i <= 8 && !pwm_center_set; i++) {
-		pwm_center_set = check_pwm_center("PWM_MAIN", i) || check_pwm_center("PWM_AUX", i);
+	for (int i = 1; i <= 8; i++) {
+		if (check_pwm_center("PWM_MAIN", i) || check_pwm_center("PWM_AUX", i)) {
+			pwm_center_set = true;
+		}
 	}
 
 	for (int i = 0; i < _count; i++) {
@@ -108,7 +120,7 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
 		param_get(_param_handles[i].trim, &_params[i].trim);
 
 		// If PWM center is set and CA_SV_CS trim is non-zero, warn and reset to 0
-		if (pwm_center_set && fabsf(_params[i].trim) > 0.001f) {
+		if (pwm_center_set && fabsf(_params[i].trim) > FLT_EPSILON) {
 			PX4_WARN("CA_SV_CS%d_TRIM (%.3f) should be 0 when PWM CENTER is used. Resetting to 0.",
 				 i, (double)_params[i].trim);
 			_params[i].trim = 0.0f;