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rename param from trim to center

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This commit is contained in:
ttechnick
2025-11-17 17:20:32 +01:00
parent d5fe247863
commit 6cb79e086a
9 changed files with 46 additions and 46 deletions
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Tools/module_config/generate_actuators_metadata.py
+1 -1
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@@ -237,7 +237,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
( 'function', 'Function', 'FUNC', False ),
( 'disarmed', 'Disarmed', 'DIS', False ),
( 'min', 'Minimum', 'MIN', False ),
( 'trim', 'Trim', 'TRIM', False ),
( 'center', 'Center', 'CENT', False ),
( 'max', 'Maximum', 'MAX', False ),
( 'failsafe', 'Failsafe', 'FAIL', True ),
]
Tools/module_config/generate_params.py
+3 -3
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@@ -285,8 +285,8 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
minimum_description = \
'''Minimum output value (when not disarmed).
'''
trim_description = \
'''Trim output value (when not disarmed).
center_description = \
'''Center output value (when not disarmed).
'''
maximum_description = \
'''Maxmimum output value (when not disarmed).
@@ -299,7 +299,7 @@ When set to -1 (default), the value depends on the function (see {:}).
standard_params_array = [
( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
( 'min', 'Minimum', 'MIN', minimum_description ),
( 'trim', 'Trim', 'TRIM', trim_description ),
( 'center', 'Center', 'CENT', center_description ),
( 'max', 'Maximum', 'MAX', maximum_description ),
( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
]
docs/en/config/actuators.md
+4 -4
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@@ -537,7 +537,7 @@ If a high rate servo is _really_ needed, DShot offers better value.
##### PWM: Control surfaces that move both directions about a neutral point
To facilitate setting the neutral point of the servos, a bilinear curve function can be defined using the following parameters `PWM_MAIM_TRIMx` / `PWM_AUX_TRIMx` for each servo. This allows for unequal deflections in the positive and negative direction:
To facilitate setting the neutral point of the servos, a bilinear curve function can be defined using the following parameters `PWM_MAIM_CENTx` / `PWM_AUX_CENTx` for each servo. This allows for unequal deflections in the positive and negative direction:
![Asymetric Servo Deflections](../../assets/config/actuators/servo_pwm_trim.png)
To set this up:
@@ -546,7 +546,7 @@ To set this up:
![PWM Trimming](../../assets/config/actuators/trim_GS.png)
1. Set the `PWM_MAIN_TRIMx` / `PWM_AUX_TRIMx` value so that the surface will stay at the neutral position.
1. Set the `PWM_MAIN_CENTx` / `PWM_AUX_CENTx` value so that the surface will stay at the neutral position.
This is usually around `1500` for PWM servos (near the center of the servo range).
![Control Surface Trimming](../../assets/config/actuators/control_surface_trim.png)
@@ -616,7 +616,7 @@ One approach for setting these up is:
- If the value was increased towards `Max`, then set `Max` to match `Disarmed`.
4. The value that you did _not_ set to match `Disarmed` controls the maximum amount that the control surface can extend.
Set the slider to the top of the control, then change the value (`Max` or `Min`) so that the control surface is fully extended when the slider is at top.
5. (Only PWM servos) Set the `Trim` value to the middle between `Min` and `Max`.
5. (Only PWM servos) Set the `Center` value to the middle between `Min` and `Max`.
::: info Special note for flaps
In some vehicle builds, flaps may be configured such that both flaps are controlled from a single output.
@@ -656,7 +656,7 @@ For each of the tilt servos:
- Tailsitters do not turn off any motors in fixed-wing flight
- The following formula can be used to migrate from surface trim to PWM trim:
`PWM_MAIN_TRIMx = ((PWM_MAX - PWM_MIN) / 2) * CA_SV_CSx_TRIM + TRIM_MIN + ((PWM_MAX - PWM_MIN) / 2)`
`PWM_MAIN_CENTx = ((PWM_MAX - PWM_MIN) / 2) * CA_SV_CSx_TRIM + PWM_MIN + ((PWM_MAX - PWM_MIN) / 2)`
### Reversing Motors
src/drivers/pwm_out/module.yaml
+1 -1
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@@ -7,7 +7,7 @@ actuator_output:
standard_params:
disarmed: { min: 800, max: 2200, default: 1000 }
min: { min: 800, max: 1400, default: 1000 }
trim: { min: 800, max: 2200, default: 1500 }
center: { min: 800, max: 2200, default: 1500 }
max: { min: 1600, max: 2200, default: 2000 }
failsafe: { min: 800, max: 2200 }
extra_function_groups: [ pwm_fmu ]
src/lib/mixer_module/mixer_module.cpp
+14 -14
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@@ -120,8 +120,8 @@ void MixingOutput::initParamHandles(const uint8_t instance_start)
_param_handles[i].disarmed = param_find(param_name);
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MIN", i + instance_start);
_param_handles[i].min = param_find(param_name);
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "TRIM", i + instance_start);
_param_handles[i].trim = param_find(param_name);
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "CENT", i + instance_start);
_param_handles[i].center = param_find(param_name);
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MAX", i + instance_start);
_param_handles[i].max = param_find(param_name);
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FAIL", i + instance_start);
@@ -144,9 +144,9 @@ void MixingOutput::printStatus() const
PX4_INFO_RAW("Channel Configuration:\n");
for (unsigned i = 0; i < _max_num_outputs; i++) {
PX4_INFO_RAW("Channel %i: func: %3i, value: %i, failsafe: %d, disarmed: %d, min: %d, max: %d, trim: %d\n", i,
PX4_INFO_RAW("Channel %i: func: %3i, value: %i, failsafe: %d, disarmed: %d, min: %d, max: %d, center: %d\n", i,
(int)_function_assignment[i], _current_output_value[i],
actualFailsafeValue(i), _disarmed_value[i], _min_value[i], _max_value[i], _trim_value[i]);
actualFailsafeValue(i), _disarmed_value[i], _min_value[i], _max_value[i], _center_value[i]);
}
}
@@ -175,8 +175,8 @@ void MixingOutput::updateParams()
_min_value[i] = val;
}
if (_param_handles[i].trim != PARAM_INVALID && param_get(_param_handles[i].trim, &val) == 0) {
_trim_value[i] = val;
if (_param_handles[i].center != PARAM_INVALID && param_get(_param_handles[i].center, &val) == 0) {
_center_value[i] = val;
}
if (_param_handles[i].max != PARAM_INVALID && param_get(_param_handles[i].max, &val) == 0) {
@@ -189,8 +189,8 @@ void MixingOutput::updateParams()
_max_value[i] = tmp;
}
// Trim needs to be clamped to min/max
_trim_value[i] = math::constrain(_trim_value[i], _min_value[i], _max_value[i]);
// 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;
@@ -381,11 +381,11 @@ void MixingOutput::setAllMinValues(uint16_t value)
}
}
void MixingOutput::setAllTrimValues(uint16_t value)
void MixingOutput::setAllCenterValues(uint16_t value)
{
for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
_param_handles[i].trim = PARAM_INVALID;
_trim_value[i] = value;
_param_handles[i].center = PARAM_INVALID;
_center_value[i] = value;
}
}
@@ -549,16 +549,16 @@ 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].trim != PARAM_INVALID) {
&& _param_handles[i].center != PARAM_INVALID) {
/* bi-linear interpolation */
if (value < 0.0f) {
output = math::interpolate(value, -1.f, 0.0f,
static_cast<float>(_min_value[i]), static_cast<float>(_trim_value[i]));
static_cast<float>(_min_value[i]), static_cast<float>(_center_value[i]));
} else {
output = math::interpolate(value, 0.0f, 1.0f,
static_cast<float>(_trim_value[i]), static_cast<float>(_max_value[i]));
static_cast<float>(_center_value[i]), static_cast<float>(_max_value[i]));
}
} else {
src/lib/mixer_module/mixer_module.hpp
+5 -5
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@@ -167,19 +167,19 @@ public:
void setAllFailsafeValues(uint16_t value);
void setAllDisarmedValues(uint16_t value);
void setAllMinValues(uint16_t value);
void setAllTrimValues(uint16_t value);
void setAllCenterValues(uint16_t value);
void setAllMaxValues(uint16_t value);
/** Disarmed values: disarmedValue < minValue needs to hold */
uint16_t &disarmedValue(int index) { return _disarmed_value[index]; }
uint16_t &minValue(int index) { return _min_value[index]; }
uint16_t &trimValue(int index) { return _trim_value[index]; }
uint16_t &centerValue(int index) { return _center_value[index]; }
uint16_t &maxValue(int index) { return _max_value[index]; }
param_t functionParamHandle(int index) const { return _param_handles[index].function; }
param_t disarmedParamHandle(int index) const { return _param_handles[index].disarmed; }
param_t minParamHandle(int index) const { return _param_handles[index].min; }
param_t trimParamHandle(int index) const { return _param_handles[index].trim; }
param_t centerParamHandle(int index) const { return _param_handles[index].center; }
param_t maxParamHandle(int index) const { return _param_handles[index].max; }
/**
@@ -231,7 +231,7 @@ private:
param_t function{PARAM_INVALID};
param_t disarmed{PARAM_INVALID};
param_t min{PARAM_INVALID};
param_t trim{PARAM_INVALID};
param_t center{PARAM_INVALID};
param_t max{PARAM_INVALID};
param_t failsafe{PARAM_INVALID};
};
@@ -244,7 +244,7 @@ private:
uint16_t _failsafe_value[MAX_ACTUATORS] {};
uint16_t _disarmed_value[MAX_ACTUATORS] {};
uint16_t _min_value[MAX_ACTUATORS] {};
uint16_t _trim_value[MAX_ACTUATORS] {};
uint16_t _center_value[MAX_ACTUATORS] {};
uint16_t _max_value[MAX_ACTUATORS] {};
uint16_t _current_output_value[MAX_ACTUATORS] {}; ///< current output values (reordered)
uint16_t _reverse_output_mask{0}; ///< reverses the interval [min, max] -> [max, min], NOT motor direction
src/lib/mixer_module/mixer_module_tests.cpp
+6 -6
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@@ -54,7 +54,7 @@ static constexpr int MAX_NUM_OUTPUTS = 8;
static constexpr int DISARMED_VALUE = 900;
static constexpr int FAILSAFE_VALUE = 800;
static constexpr int MIN_VALUE = 1000;
static constexpr int TRIM_VALUE = 1500;
static constexpr int CENTER_VALUE = 1500;
static constexpr int MAX_VALUE = 2000;
class MixerModuleTest : public ::testing::Test
@@ -189,7 +189,7 @@ TEST_F(MixerModuleTest, basic)
mixing_output.setAllDisarmedValues(DISARMED_VALUE);
mixing_output.setAllFailsafeValues(FAILSAFE_VALUE);
mixing_output.setAllMinValues(MIN_VALUE);
mixing_output.setAllTrimValues(TRIM_VALUE);
mixing_output.setAllCenterValues(CENTER_VALUE);
mixing_output.setAllMaxValues(MAX_VALUE);
EXPECT_EQ(test_module.num_updates, 0);
@@ -283,7 +283,7 @@ TEST_F(MixerModuleTest, arming)
mixing_output.setAllDisarmedValues(DISARMED_VALUE);
mixing_output.setAllFailsafeValues(FAILSAFE_VALUE);
mixing_output.setAllMinValues(MIN_VALUE);
mixing_output.setAllTrimValues(TRIM_VALUE);
mixing_output.setAllCenterValues(CENTER_VALUE);
mixing_output.setAllMaxValues(MAX_VALUE);
test_module.sendMotors({1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f, 1.f});
@@ -491,7 +491,7 @@ TEST_F(MixerModuleTest, OutputLimitCalcSingle)
mixing_output.setAllMinValues(MIN_VALUE); // default range [1000,2000]
mixing_output.setAllMaxValues(MAX_VALUE);
mixing_output.setAllTrimValues(1500); // Set trim to middle value
mixing_output.setAllCenterValues(CENTER_VALUE); // Set center to middle value
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.f), 1000); // In range
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -.5f), 1250);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.f), 1500);
@@ -507,7 +507,7 @@ TEST_F(MixerModuleTest, OutputLimitCalcSingle)
mixing_output.setAllMinValues(0); // lower range [0,20]
mixing_output.setAllMaxValues(20);
mixing_output.setAllTrimValues(10); // Set trim to middle value
mixing_output.setAllCenterValues(10); // Set center to middle value
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.f), 0); // In range
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -.5f), 5);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.f), 10);
@@ -523,7 +523,7 @@ TEST_F(MixerModuleTest, OutputLimitCalcSingle)
mixing_output.setAllMinValues(20); // inverted range [20,0]
mixing_output.setAllMaxValues(0);
mixing_output.setAllTrimValues(10); // Set trim to middle value
mixing_output.setAllCenterValues(10); // Set center to middle value
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -1.f), 20); // In range
EXPECT_EQ(mixing_output.output_limit_calc_single(0, -.5f), 15);
EXPECT_EQ(mixing_output.output_limit_calc_single(0, 0.f), 10);
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp
+10 -10
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@@ -74,10 +74,10 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
return;
}
// Helper to check if a PWM trim parameter is set to non-default value (1500 µs)
auto check_pwm_trim = [](const char *prefix, int channel) -> bool {
// Helper to check if a PWM center parameter is set to non-default value (1500 µs)
auto check_pwm_center = [](const char *prefix, int channel) -> bool {
char param_name[20];
snprintf(param_name, sizeof(param_name), "%s_TRIM%d", prefix, channel);
snprintf(param_name, sizeof(param_name), "%s_CENT%d", prefix, channel);
param_t param = param_find(param_name);
if (param != PARAM_INVALID)
@@ -89,11 +89,11 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
return false;
};
// Check if any PWM_MAIN or PWM_AUX trim is configured
bool pwm_trim_set = false;
// Check if any PWM_MAIN or PWM_AUX center is configured
bool pwm_center_set = false;
for (int i = 1; i <= 8 && !pwm_trim_set; i++) {
pwm_trim_set = check_pwm_trim("PWM_MAIN", i) || check_pwm_trim("PWM_AUX", i);
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 = 0; i < _count; i++) {
@@ -107,9 +107,9 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
param_get(_param_handles[i].trim, &_params[i].trim);
// If PWM trim is set and CA_SV_CS trim is non-zero, warn and reset to 0
if (pwm_trim_set && fabsf(_params[i].trim) > 0.001f) {
PX4_WARN("CA_SV_CS%d_TRIM (%.3f) should be 0 when PWM TRIM is used. Resetting to 0.",
// 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) {
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;
// Update the parameter storage
src/modules/control_allocator/module.yaml
+2 -2
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@@ -315,8 +315,8 @@ parameters:
long: |
Can be used to add an offset to the servo control.
NOTE: Do not use for PWM servos. Use the PWM TRIM parameters instead (e.g., PWM_MAIN_TRIM, PWM_AUX_TRIM) instead.
This parameter can only be set if all PWM Trim parameters are set to default.
NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
This parameter can only be set if all PWM Center parameters are set to default.
type: float
decimal: 2
min: -1.0