fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 12:58:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

PWM: Add servo center setting & asymetric deflection (#25897)

Browse Source 
Add PWM_*_CENTERx for each servo.
Use a bilinear transform to map actuator_servos to PWM signals.

This solution only works for PWM based servos. Other types of servos are not affected.

* PWM: Add servo trim option

* PWM: Improve documentation of PWM trim feature

* PWM: cleaner clamping and docs typo

* update documentation & safety

* add migration formula

* rename param from trim to center

* docs with center instead of trim

* move clamping and reorder values

* improve documentation

* adress failing range check

* improve documentation

* CA: add event for setting CENTER with TRIM

Signed-off-by: Silvan <silvan@auterion.com>

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
This commit is contained in:
Nick
2025-11-26 18:12:25 +01:00
committed by GitHub
co-authored by Silvan
parent 6caf4f0942
commit 575fa0850b
13 changed files with 187 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/pwm_out/module.yaml
+1
View File
@@ -8,6 +8,7 @@ actuator_output:
disarmed: { min: 800, max: 2200, default: 1000 }
min: { min: 800, max: 1400, default: 1000 }
max: { min: 1600, max: 2200, default: 2000 }
center: { min: 800, max: 2200}
failsafe: { min: 800, max: 2200 }
extra_function_groups: [ pwm_fmu ]
pwm_timer_param: