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WIP: ROMFS: explicitly configure airframe outputs

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This commit is contained in:
Daniel Agar
2021-02-12 10:33:48 -05:00
parent 89f19fd657
commit 6598a82a71
122 changed files with 735 additions and 1013 deletions
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src/lib/parameters/param_translation.cpp
-23
View File
@@ -141,29 +141,6 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2021-01-31 (v1.12 alpha): translate PWM_MIN/PWM_MAX/PWM_DISARMED to PWM_MAIN
{
if (strcmp("PWM_MIN", node->name) == 0) {
strcpy(node->name, "PWM_MAIN_MIN");
PX4_INFO("copying %s -> %s", "PWM_MIN", "PWM_MAIN_MIN");
}
if (strcmp("PWM_MAX", node->name) == 0) {
strcpy(node->name, "PWM_MAIN_MAX");
PX4_INFO("copying %s -> %s", "PWM_MAX", "PWM_MAIN_MAX");
}
if (strcmp("PWM_RATE", node->name) == 0) {
strcpy(node->name, "PWM_MAIN_RATE");
PX4_INFO("copying %s -> %s", "PWM_RATE", "PWM_MAIN_RATE");
}
if (strcmp("PWM_DISARMED", node->name) == 0) {
strcpy(node->name, "PWM_MAIN_DISARM");
PX4_INFO("copying %s -> %s", "PWM_DISARMED", "PWM_MAIN_DISARM");
}
}
// translate (SPI) calibration ID parameters. This can be removed after the next release (current release=1.10)
if (node->type != BSON_INT32) {
src/lib/pwm/pwm_aux_params.yaml
+5 -57
View File
@@ -6,87 +6,37 @@ parameters:
- group: PWM Outputs
definitions:
PWM_AUX_RATE:
description:
short: PWM aux output frequency
long: |
Set to 400 for industry default or 1000 for high frequency ESCs.
Set to 0 for Oneshot125.
type: int32
unit: Hz
min: -1
max: 2000
default: 50
PWM_AUX_MIN:
description:
short: PWM aux minimum value
long: |
Set to 1000 for industry default or 900 to increase servo travel.
type: int32
unit: us
min: 800
max: 1400
default: 1000
PWM_AUX_MAX:
description:
short: PWM aux maximum value
long: |
Set to 2000 for industry default or 2100 to increase servo travel.
type: int32
unit: us
min: 1600
max: 2200
default: 2000
PWM_AUX_DISARM:
description:
short: PWM aux disarmed value
long: |
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.
type: int32
unit: us
min: 0
max: 2200
default: 1500
PWM_AUX_MIN${i}:
description:
short: PWM aux ${i} minimum value
long: |
This is the minimum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_AUX_MIN will be used
type: int32
unit: us
min: -1
min: 800
max: 1600
num_instances: *max_num_config_instances
instance_start: 1
default: -1
default: 1000
PWM_AUX_MAX${i}:
description:
short: PWM aux ${i} maximum value
long: |
This is the maximum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_AUX_MAX will be used
type: int32
unit: us
min: -1
min: 1400
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
default: 2000
PWM_AUX_FAIL${i}:
description:
short: PWM aux ${i} failsafe value
long: |
This is the PWM pulse the autopilot is outputting if in failsafe mode.
When set to -1 the value is set automatically depending if the actuator
is a motor (900us) or a servo (1500us)
type: int32
unit: us
min: 0
@@ -100,10 +50,9 @@ parameters:
short: PWM aux ${i} disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
When set to -1 the value for PWM_AUX_DISARMED will be used
type: int32
unit: us
min: -1
min: 0
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
@@ -128,7 +77,6 @@ parameters:
long: |
Enable to invert the channel.
Warning: Use this parameter when connected to a servo only.
For a brushless motor, invert manually two phases to reverse the direction.
type: boolean
num_instances: *max_num_config_instances
instance_start: 1
src/lib/pwm/pwm_extra_params.yaml
+7 -59
View File
@@ -6,87 +6,37 @@ parameters:
- group: PWM Outputs
definitions:
PWM_EXTRA_RATE:
description:
short: PWM extra output frequency
long: |
Set to 400 for industry default or 1000 for high frequency ESCs.
Set to 0 for Oneshot125.
type: int32
unit: Hz
min: -1
max: 2000
default: 50
PWM_EXTRA_MIN:
description:
short: PWM extra minimum value
long: |
Set to 1000 for industry default or 900 to increase servo travel.
type: int32
unit: us
min: 800
max: 1400
default: 1000
PWM_EXTRA_MAX:
description:
short: PWM extra maximum value
long: |
Set to 2000 for industry default or 2100 to increase servo travel.
type: int32
unit: us
min: 1600
max: 2200
default: 2000
PWM_EXTRA_DISARM:
description:
short: PWM extra disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
The main use of this parameter is to silence ESCs when they are disarmed.
type: int32
unit: us
min: 0
max: 2200
default: 1500
PWM_EXTRA_MIN${i}:
description:
short: PWM extra ${i} minimum value
long: |
This is the minimum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_EXTRA_MIN will be used
type: int32
unit: us
min: -1
min: 800
max: 1600
num_instances: *max_num_config_instances
instance_start: 1
default: -1
default: 1000
PWM_EXTRA_MAX${i}:
description:
short: PWM extra ${i} maximum value
long: |
This is the maximum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_EXTRA_MAX will be used
type: int32
unit: us
min: -1
min: 1400
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
default: 2000
PWM_EXTRA_FAIL${i}:
description:
short: PWM extra ${i} failsafe value
long: |
This is the PWM pulse the autopilot is outputting if in failsafe mode.
When set to -1 the value is set automatically depending if the actuator
is a motor (900us) or a servo (1500us)
type: int32
unit: us
min: 0
@@ -100,14 +50,13 @@ parameters:
short: PWM extra ${i} disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
When set to -1 the value for PWM_EXTRA_DISARM will be used
type: int32
unit: us
min: -1
min: 0
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
default: 0
PWM_EXTRA_TRIM${i}:
description:
@@ -128,7 +77,6 @@ parameters:
long: |
Enable to invert the channel.
Warning: Use this parameter when connected to a servo only.
For a brushless motor, invert manually two phases to reverse the direction.
type: boolean
num_instances: *max_num_config_instances
instance_start: 1
@@ -138,7 +86,7 @@ parameters:
description:
short: PWM extra ${i} rate
long: |
Set the default PWM output frequency for the main outputs
Set the default PWM output frequency for the extra outputs
type: int32
unit: Hz
min: 0
src/lib/pwm/pwm_main_params.yaml
+6 -58
View File
@@ -6,87 +6,37 @@ parameters:
- group: PWM Outputs
definitions:
PWM_MAIN_RATE:
description:
short: PWM main output frequency
long: |
Set to 400 for industry default or 1000 for high frequency ESCs.
Set to 0 for Oneshot125.
type: int32
unit: Hz
min: -1
max: 2000
default: 400
PWM_MAIN_MIN:
description:
short: PWM main minimum value
long: |
Set to 1000 for industry default or 900 to increase servo travel.
type: int32
unit: us
min: 800
max: 1400
default: 1000
PWM_MAIN_MAX:
description:
short: PWM main maximum value
long: |
Set to 2000 for industry default or 2100 to increase servo travel.
type: int32
unit: us
min: 1600
max: 2200
default: 2000
PWM_MAIN_DISARM:
description:
short: PWM main disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
The main use of this parameter is to silence ESCs when they are disarmed.
type: int32
unit: us
min: 0
max: 2200
default: 900
PWM_MAIN_MIN${i}:
description:
short: PWM main ${i} minimum value
long: |
This is the minimum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_MIN will be used
type: int32
unit: us
min: -1
min: 800
max: 1600
num_instances: *max_num_config_instances
instance_start: 1
default: -1
default: 1000
PWM_MAIN_MAX${i}:
description:
short: PWM main ${i} maximum value
long: |
This is the maximum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_MAX will be used
type: int32
unit: us
min: -1
min: 1400
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
default: 2000
PWM_MAIN_FAIL${i}:
description:
short: PWM main ${i} failsafe value
long: |
This is the PWM pulse the autopilot is outputting if in failsafe mode.
When set to -1 the value is set automatically depending if the actuator
is a motor (900us) or a servo (1500us)
type: int32
unit: us
min: 0
@@ -100,14 +50,13 @@ parameters:
short: PWM main ${i} disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
When set to -1 the value for PWM_DISARMED will be used
type: int32
unit: us
min: -1
min: 0
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
default: 0
PWM_MAIN_TRIM${i}:
description:
@@ -128,7 +77,6 @@ parameters:
long: |
Enable to invert the channel.
Warning: Use this parameter when connected to a servo only.
For a brushless motor, invert manually two phases to reverse the direction.
type: boolean
num_instances: *max_num_config_instances
instance_start: 1