implemented slew-rate

2026-10-18 03:03:34 +08:00 · 2016-09-30 13:55:53 +02:00
parent b6b8892606
commit 66ddea01d1
8 changed files with 67 additions and 1 deletions
@@ -1245,6 +1245,14 @@ PX4IO::task_main()
 					}
 				}

+				/* maximum motor pwm slew rate */
+				parm_handle = param_find("MOT_SLEW_MAX");
+
+				if (parm_handle != PARAM_INVALID) {
+					param_get(parm_handle, &param_val);
+					(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_MOTOR_SLEW_MAX, FLOAT_TO_REG(param_val));
+				}
+
 				// Also trigger param update in Battery instance.
 				_battery.updateParams();
 			}