control_allocator: implement trim + slew rate limits configuration

src/lib/mixer_module/actuator_test.cpp

@@ -81,6 +81,17 @@ void ActuatorTest::update(int num_outputs, float thrust_curve)
 						FunctionMotors::updateValues(motors.reversible_flags >> motor_idx, thrust_curve, &value, 1);
 					}
 
+					// handle servos: add trim
+					if (actuator_test.function >= (int)OutputFunction::Servo1 && actuator_test.function <= (int)OutputFunction::ServoMax) {
+						actuator_servos_trim_s trim{};
+						_actuator_servos_trim_sub.copy(&trim);
+						int idx = actuator_test.function - (int)OutputFunction::Servo1;
+
+						if (idx < actuator_servos_trim_s::NUM_CONTROLS) {
+							value += trim.trim[idx];
+						}
+					}
+
 					_current_outputs[i] = value;
 
 				} else {

src/lib/mixer_module/actuator_test.hpp

@@ -38,6 +38,7 @@
 #include <drivers/drv_pwm_output.h>
 #include <uORB/topics/actuator_test.h>
 #include <uORB/topics/actuator_motors.h>
+#include <uORB/topics/actuator_servos_trim.h>
 #include <uORB/Subscription.hpp>
 
 static_assert(actuator_test_s::FUNCTION_MOTOR1 == (int)OutputFunction::Motor1, "define mismatch");
@@ -66,6 +67,7 @@ private:
 
 	uORB::Subscription _actuator_test_sub{ORB_ID(actuator_test)};
 	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
+	uORB::Subscription _actuator_servos_trim_sub{ORB_ID(actuator_servos_trim)};
 	bool _in_test_mode{false};
 	hrt_abstime _next_timeout{0};
 

src/lib/mixer_module/motor_params.c

@@ -44,7 +44,7 @@
  *
  * 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.
+ * can only go from 1000 to 2000 PWM in minimum x seconds.
  *
  * Zero means that slew rate limiting is disabled.
  *