mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-25 22:53:33 +08:00
move PWM params to lib
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
8a047c8965
commit
9f00fd2796
@@ -58,6 +58,7 @@ add_subdirectory(motion_planning)
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add_subdirectory(output_limit)
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add_subdirectory(perf)
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add_subdirectory(pid)
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add_subdirectory(pwm)
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add_subdirectory(rc)
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add_subdirectory(sensor_calibration)
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add_subdirectory(slew_rate)
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@@ -0,0 +1,36 @@
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############################################################################
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#
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# Copyright (c) 2021 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_main_params.yaml)
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_aux_params.yaml)
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_extra_params.yaml)
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@@ -0,0 +1,147 @@
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__max_num_config_instances: &max_num_config_instances 8
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module_name: pwm_out
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parameters:
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- group: PWM Outputs
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definitions:
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PWM_AUX_RATE:
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description:
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short: PWM aux output frequency
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long: |
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Set to 400 for industry default or 1000 for high frequency ESCs.
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Set to 0 for Oneshot125.
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type: int32
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unit: Hz
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min: -1
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max: 2000
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default: 50
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PWM_AUX_MIN:
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description:
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short: PWM aux minimum value
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long: |
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Set to 1000 for industry default or 900 to increase servo travel.
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type: int32
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unit: us
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min: 800
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max: 1400
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default: 1000
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PWM_AUX_MAX:
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description:
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short: PWM aux maximum value
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long: |
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Set to 2000 for industry default or 2100 to increase servo travel.
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type: int32
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unit: us
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min: 1600
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max: 2200
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default: 2000
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PWM_AUX_DISARM:
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description:
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short: PWM aux disarmed value
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long: |
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This is the PWM pulse the autopilot is outputting if not armed.
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The main use of this parameter is to silence ESCs when they are disarmed.
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type: int32
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unit: us
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min: 0
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max: 2200
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default: 1500
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PWM_AUX_MIN${i}:
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description:
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short: PWM aux ${i} minimum value
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long: |
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This is the minimum PWM pulse the autopilot is allowed to output.
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When set to -1 the value for PWM_AUX_MIN will be used
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type: int32
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unit: us
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min: -1
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max: 1600
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_AUX_MAX${i}:
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description:
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short: PWM aux ${i} maximum value
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long: |
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This is the maximum PWM pulse the autopilot is allowed to output.
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When set to -1 the value for PWM_AUX_MAX will be used
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type: int32
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unit: us
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min: -1
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_AUX_FAIL${i}:
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description:
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short: PWM aux ${i} failsafe value
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long: |
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This is the PWM pulse the autopilot is outputting if in failsafe mode.
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When set to -1 the value is set automatically depending if the actuator
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is a motor (900us) or a servo (1500us)
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type: int32
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unit: us
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min: 0
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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PWM_AUX_DIS${i}:
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description:
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short: PWM aux ${i} disarmed value
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long: |
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This is the PWM pulse the autopilot is outputting if not armed.
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When set to -1 the value for PWM_AUX_DISARMED will be used
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type: int32
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unit: us
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min: -1
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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PWM_AUX_TRIM${i}:
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description:
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short: PWM aux ${i} trim value
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long: |
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Set to normalized offset
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type: float
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min: -0.2
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max: 0.2
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decimal: 2
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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PWM_AUX_REV${i}:
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description:
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short: PWM aux ${i} reverse value
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long: |
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Enable to invert the channel.
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Warning: Use this parameter when connected to a servo only.
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For a brushless motor, invert manually two phases to reverse the direction.
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type: boolean
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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PWM_AUX_RATE${i}:
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description:
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short: PWM aux ${i} rate
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long: |
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Set the default PWM output frequency for the aux outputs
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type: int32
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unit: Hz
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min: 0
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max: 400
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instance_start: 1
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default: 50
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@@ -0,0 +1,147 @@
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__max_num_config_instances: &max_num_config_instances 8
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module_name: pwm_out
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parameters:
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- group: PWM Outputs
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definitions:
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PWM_EXTRA_RATE:
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description:
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short: PWM extra output frequency
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long: |
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Set to 400 for industry default or 1000 for high frequency ESCs.
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Set to 0 for Oneshot125.
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type: int32
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unit: Hz
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min: -1
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max: 2000
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default: 50
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PWM_EXTRA_MIN:
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description:
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short: PWM extra minimum value
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long: |
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Set to 1000 for industry default or 900 to increase servo travel.
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type: int32
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unit: us
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min: 800
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max: 1400
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default: 1000
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PWM_EXTRA_MAX:
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description:
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short: PWM extra maximum value
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long: |
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Set to 2000 for industry default or 2100 to increase servo travel.
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type: int32
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unit: us
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min: 1600
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max: 2200
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default: 2000
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PWM_EXTRA_DISARM:
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description:
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short: PWM extra disarmed value
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long: |
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This is the PWM pulse the autopilot is outputting if not armed.
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The main use of this parameter is to silence ESCs when they are disarmed.
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type: int32
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unit: us
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min: 0
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max: 2200
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default: 1500
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PWM_EXTRA_MIN${i}:
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description:
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short: PWM extra ${i} minimum value
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long: |
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This is the minimum PWM pulse the autopilot is allowed to output.
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When set to -1 the value for PWM_EXTRA_MIN will be used
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type: int32
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unit: us
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min: -1
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max: 1600
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_EXTRA_MAX${i}:
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description:
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short: PWM extra ${i} maximum value
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long: |
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This is the maximum PWM pulse the autopilot is allowed to output.
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When set to -1 the value for PWM_EXTRA_MAX will be used
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type: int32
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unit: us
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min: -1
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_EXTRA_FAIL${i}:
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description:
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short: PWM extra ${i} failsafe value
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long: |
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This is the PWM pulse the autopilot is outputting if in failsafe mode.
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When set to -1 the value is set automatically depending if the actuator
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is a motor (900us) or a servo (1500us)
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type: int32
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unit: us
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min: 0
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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PWM_EXTRA_DIS${i}:
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description:
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short: PWM extra ${i} disarmed value
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long: |
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This is the PWM pulse the autopilot is outputting if not armed.
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When set to -1 the value for PWM_EXTRA_DISARM will be used
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type: int32
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unit: us
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min: -1
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_EXTRA_TRIM${i}:
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description:
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short: PWM extra ${i} trim value
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long: |
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Set to normalized offset
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type: float
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min: -0.2
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max: 0.2
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decimal: 2
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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PWM_EXTRA_REV${i}:
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description:
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short: PWM extra ${i} reverse value
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long: |
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Enable to invert the channel.
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Warning: Use this parameter when connected to a servo only.
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For a brushless motor, invert manually two phases to reverse the direction.
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type: boolean
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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PWM_EXTRA_RATE${i}:
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description:
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short: PWM extra ${i} rate
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long: |
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Set the default PWM output frequency for the main outputs
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type: int32
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unit: Hz
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min: 0
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max: 400
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instance_start: 1
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default: 50
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@@ -0,0 +1,147 @@
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__max_num_config_instances: &max_num_config_instances 14
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module_name: pwm_out
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parameters:
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- group: PWM Outputs
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definitions:
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PWM_MAIN_RATE:
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description:
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short: PWM main output frequency
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long: |
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Set to 400 for industry default or 1000 for high frequency ESCs.
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Set to 0 for Oneshot125.
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type: int32
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unit: Hz
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min: -1
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max: 2000
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default: 400
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PWM_MAIN_MIN:
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description:
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short: PWM main minimum value
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long: |
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Set to 1000 for industry default or 900 to increase servo travel.
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type: int32
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unit: us
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min: 800
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max: 1400
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default: 1000
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PWM_MAIN_MAX:
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description:
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short: PWM main maximum value
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long: |
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Set to 2000 for industry default or 2100 to increase servo travel.
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type: int32
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unit: us
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min: 1600
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max: 2200
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default: 2000
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PWM_MAIN_DISARM:
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description:
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short: PWM main disarmed value
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long: |
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This is the PWM pulse the autopilot is outputting if not armed.
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The main use of this parameter is to silence ESCs when they are disarmed.
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type: int32
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unit: us
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min: 0
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max: 2200
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default: 900
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PWM_MAIN_MIN${i}:
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description:
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short: PWM main ${i} minimum value
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long: |
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This is the minimum PWM pulse the autopilot is allowed to output.
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When set to -1 the value for PWM_MIN will be used
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type: int32
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unit: us
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min: -1
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max: 1600
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_MAIN_MAX${i}:
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description:
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short: PWM main ${i} maximum value
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long: |
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This is the maximum PWM pulse the autopilot is allowed to output.
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When set to -1 the value for PWM_MAX will be used
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type: int32
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unit: us
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min: -1
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_MAIN_FAIL${i}:
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description:
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short: PWM main ${i} failsafe value
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long: |
|
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This is the PWM pulse the autopilot is outputting if in failsafe mode.
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When set to -1 the value is set automatically depending if the actuator
|
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is a motor (900us) or a servo (1500us)
|
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type: int32
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unit: us
|
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min: 0
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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|
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PWM_MAIN_DIS${i}:
|
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description:
|
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short: PWM main ${i} disarmed value
|
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long: |
|
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This is the PWM pulse the autopilot is outputting if not armed.
|
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When set to -1 the value for PWM_DISARMED will be used
|
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type: int32
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unit: us
|
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min: -1
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_MAIN_TRIM${i}:
|
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description:
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short: PWM main ${i} trim value
|
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long: |
|
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Set to normalized offset
|
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type: float
|
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min: -0.2
|
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max: 0.2
|
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decimal: 2
|
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num_instances: *max_num_config_instances
|
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instance_start: 1
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default: 0
|
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|
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PWM_MAIN_REV${i}:
|
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description:
|
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short: PWM main ${i} reverse value
|
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long: |
|
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Enable to invert the channel.
|
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Warning: Use this parameter when connected to a servo only.
|
||||
For a brushless motor, invert manually two phases to reverse the direction.
|
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type: boolean
|
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num_instances: *max_num_config_instances
|
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instance_start: 1
|
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default: 0
|
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|
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PWM_MAIN_RATE${i}:
|
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description:
|
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short: PWM main ${i} rate
|
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long: |
|
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Set the default PWM output frequency for the main outputs
|
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type: int32
|
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unit: Hz
|
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min: 0
|
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max: 400
|
||||
instance_start: 1
|
||||
default: 50
|
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