mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-26 02:53:34 +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)
|
||||
add_subdirectory(output_limit)
|
||||
add_subdirectory(perf)
|
||||
add_subdirectory(pid)
|
||||
add_subdirectory(pwm)
|
||||
add_subdirectory(rc)
|
||||
add_subdirectory(sensor_calibration)
|
||||
add_subdirectory(slew_rate)
|
||||
|
||||
@@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_main_params.yaml)
|
||||
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_aux_params.yaml)
|
||||
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/pwm_extra_params.yaml)
|
||||
@@ -0,0 +1,147 @@
|
||||
__max_num_config_instances: &max_num_config_instances 8
|
||||
|
||||
module_name: pwm_out
|
||||
|
||||
parameters:
|
||||
- group: PWM Outputs
|
||||
definitions:
|
||||
|
||||
PWM_AUX_RATE:
|
||||
description:
|
||||
short: PWM aux output frequency
|
||||
long: |
|
||||
Set to 400 for industry default or 1000 for high frequency ESCs.
|
||||
Set to 0 for Oneshot125.
|
||||
type: int32
|
||||
unit: Hz
|
||||
min: -1
|
||||
max: 2000
|
||||
default: 50
|
||||
|
||||
PWM_AUX_MIN:
|
||||
description:
|
||||
short: PWM aux minimum value
|
||||
long: |
|
||||
Set to 1000 for industry default or 900 to increase servo travel.
|
||||
type: int32
|
||||
unit: us
|
||||
min: 800
|
||||
max: 1400
|
||||
default: 1000
|
||||
|
||||
PWM_AUX_MAX:
|
||||
description:
|
||||
short: PWM aux maximum value
|
||||
long: |
|
||||
Set to 2000 for industry default or 2100 to increase servo travel.
|
||||
type: int32
|
||||
unit: us
|
||||
min: 1600
|
||||
max: 2200
|
||||
default: 2000
|
||||
|
||||
PWM_AUX_DISARM:
|
||||
description:
|
||||
short: PWM aux disarmed value
|
||||
long: |
|
||||
This is the PWM pulse the autopilot is outputting if not armed.
|
||||
The main use of this parameter is to silence ESCs when they are disarmed.
|
||||
type: int32
|
||||
unit: us
|
||||
min: 0
|
||||
max: 2200
|
||||
default: 1500
|
||||
|
||||
PWM_AUX_MIN${i}:
|
||||
description:
|
||||
short: PWM aux ${i} minimum value
|
||||
long: |
|
||||
This is the minimum PWM pulse the autopilot is allowed to output.
|
||||
When set to -1 the value for PWM_AUX_MIN will be used
|
||||
type: int32
|
||||
unit: us
|
||||
min: -1
|
||||
max: 1600
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: -1
|
||||
|
||||
PWM_AUX_MAX${i}:
|
||||
description:
|
||||
short: PWM aux ${i} maximum value
|
||||
long: |
|
||||
This is the maximum PWM pulse the autopilot is allowed to output.
|
||||
When set to -1 the value for PWM_AUX_MAX will be used
|
||||
type: int32
|
||||
unit: us
|
||||
min: -1
|
||||
max: 2150
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: -1
|
||||
|
||||
PWM_AUX_FAIL${i}:
|
||||
description:
|
||||
short: PWM aux ${i} failsafe value
|
||||
long: |
|
||||
This is the PWM pulse the autopilot is outputting if in failsafe mode.
|
||||
When set to -1 the value is set automatically depending if the actuator
|
||||
is a motor (900us) or a servo (1500us)
|
||||
type: int32
|
||||
unit: us
|
||||
min: 0
|
||||
max: 2150
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: 0
|
||||
|
||||
PWM_AUX_DIS${i}:
|
||||
description:
|
||||
short: PWM aux ${i} disarmed value
|
||||
long: |
|
||||
This is the PWM pulse the autopilot is outputting if not armed.
|
||||
When set to -1 the value for PWM_AUX_DISARMED will be used
|
||||
type: int32
|
||||
unit: us
|
||||
min: -1
|
||||
max: 2150
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: 0
|
||||
|
||||
PWM_AUX_TRIM${i}:
|
||||
description:
|
||||
short: PWM aux ${i} trim value
|
||||
long: |
|
||||
Set to normalized offset
|
||||
type: float
|
||||
min: -0.2
|
||||
max: 0.2
|
||||
decimal: 2
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: 0
|
||||
|
||||
PWM_AUX_REV${i}:
|
||||
description:
|
||||
short: PWM aux ${i} reverse value
|
||||
long: |
|
||||
Enable to invert the channel.
|
||||
Warning: Use this parameter when connected to a servo only.
|
||||
For a brushless motor, invert manually two phases to reverse the direction.
|
||||
type: boolean
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: 0
|
||||
|
||||
PWM_AUX_RATE${i}:
|
||||
description:
|
||||
short: PWM aux ${i} rate
|
||||
long: |
|
||||
Set the default PWM output frequency for the aux outputs
|
||||
type: int32
|
||||
unit: Hz
|
||||
min: 0
|
||||
max: 400
|
||||
instance_start: 1
|
||||
default: 50
|
||||
@@ -0,0 +1,147 @@
|
||||
__max_num_config_instances: &max_num_config_instances 8
|
||||
|
||||
module_name: pwm_out
|
||||
|
||||
parameters:
|
||||
- group: PWM Outputs
|
||||
definitions:
|
||||
|
||||
PWM_EXTRA_RATE:
|
||||
description:
|
||||
short: PWM extra output frequency
|
||||
long: |
|
||||
Set to 400 for industry default or 1000 for high frequency ESCs.
|
||||
Set to 0 for Oneshot125.
|
||||
type: int32
|
||||
unit: Hz
|
||||
min: -1
|
||||
max: 2000
|
||||
default: 50
|
||||
|
||||
PWM_EXTRA_MIN:
|
||||
description:
|
||||
short: PWM extra minimum value
|
||||
long: |
|
||||
Set to 1000 for industry default or 900 to increase servo travel.
|
||||
type: int32
|
||||
unit: us
|
||||
min: 800
|
||||
max: 1400
|
||||
default: 1000
|
||||
|
||||
PWM_EXTRA_MAX:
|
||||
description:
|
||||
short: PWM extra maximum value
|
||||
long: |
|
||||
Set to 2000 for industry default or 2100 to increase servo travel.
|
||||
type: int32
|
||||
unit: us
|
||||
min: 1600
|
||||
max: 2200
|
||||
default: 2000
|
||||
|
||||
PWM_EXTRA_DISARM:
|
||||
description:
|
||||
short: PWM extra disarmed value
|
||||
long: |
|
||||
This is the PWM pulse the autopilot is outputting if not armed.
|
||||
The main use of this parameter is to silence ESCs when they are disarmed.
|
||||
type: int32
|
||||
unit: us
|
||||
min: 0
|
||||
max: 2200
|
||||
default: 1500
|
||||
|
||||
PWM_EXTRA_MIN${i}:
|
||||
description:
|
||||
short: PWM extra ${i} minimum value
|
||||
long: |
|
||||
This is the minimum PWM pulse the autopilot is allowed to output.
|
||||
When set to -1 the value for PWM_EXTRA_MIN will be used
|
||||
type: int32
|
||||
unit: us
|
||||
min: -1
|
||||
max: 1600
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: -1
|
||||
|
||||
PWM_EXTRA_MAX${i}:
|
||||
description:
|
||||
short: PWM extra ${i} maximum value
|
||||
long: |
|
||||
This is the maximum PWM pulse the autopilot is allowed to output.
|
||||
When set to -1 the value for PWM_EXTRA_MAX will be used
|
||||
type: int32
|
||||
unit: us
|
||||
min: -1
|
||||
max: 2150
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: -1
|
||||
|
||||
PWM_EXTRA_FAIL${i}:
|
||||
description:
|
||||
short: PWM extra ${i} failsafe value
|
||||
long: |
|
||||
This is the PWM pulse the autopilot is outputting if in failsafe mode.
|
||||
When set to -1 the value is set automatically depending if the actuator
|
||||
is a motor (900us) or a servo (1500us)
|
||||
type: int32
|
||||
unit: us
|
||||
min: 0
|
||||
max: 2150
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: 0
|
||||
|
||||
PWM_EXTRA_DIS${i}:
|
||||
description:
|
||||
short: PWM extra ${i} disarmed value
|
||||
long: |
|
||||
This is the PWM pulse the autopilot is outputting if not armed.
|
||||
When set to -1 the value for PWM_EXTRA_DISARM will be used
|
||||
type: int32
|
||||
unit: us
|
||||
min: -1
|
||||
max: 2150
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: -1
|
||||
|
||||
PWM_EXTRA_TRIM${i}:
|
||||
description:
|
||||
short: PWM extra ${i} trim value
|
||||
long: |
|
||||
Set to normalized offset
|
||||
type: float
|
||||
min: -0.2
|
||||
max: 0.2
|
||||
decimal: 2
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: 0
|
||||
|
||||
PWM_EXTRA_REV${i}:
|
||||
description:
|
||||
short: PWM extra ${i} reverse value
|
||||
long: |
|
||||
Enable to invert the channel.
|
||||
Warning: Use this parameter when connected to a servo only.
|
||||
For a brushless motor, invert manually two phases to reverse the direction.
|
||||
type: boolean
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: 0
|
||||
|
||||
PWM_EXTRA_RATE${i}:
|
||||
description:
|
||||
short: PWM extra ${i} rate
|
||||
long: |
|
||||
Set the default PWM output frequency for the main outputs
|
||||
type: int32
|
||||
unit: Hz
|
||||
min: 0
|
||||
max: 400
|
||||
instance_start: 1
|
||||
default: 50
|
||||
@@ -0,0 +1,147 @@
|
||||
__max_num_config_instances: &max_num_config_instances 14
|
||||
|
||||
module_name: pwm_out
|
||||
|
||||
parameters:
|
||||
- group: PWM Outputs
|
||||
definitions:
|
||||
|
||||
PWM_MAIN_RATE:
|
||||
description:
|
||||
short: PWM main output frequency
|
||||
long: |
|
||||
Set to 400 for industry default or 1000 for high frequency ESCs.
|
||||
Set to 0 for Oneshot125.
|
||||
type: int32
|
||||
unit: Hz
|
||||
min: -1
|
||||
max: 2000
|
||||
default: 400
|
||||
|
||||
PWM_MAIN_MIN:
|
||||
description:
|
||||
short: PWM main minimum value
|
||||
long: |
|
||||
Set to 1000 for industry default or 900 to increase servo travel.
|
||||
type: int32
|
||||
unit: us
|
||||
min: 800
|
||||
max: 1400
|
||||
default: 1000
|
||||
|
||||
PWM_MAIN_MAX:
|
||||
description:
|
||||
short: PWM main maximum value
|
||||
long: |
|
||||
Set to 2000 for industry default or 2100 to increase servo travel.
|
||||
type: int32
|
||||
unit: us
|
||||
min: 1600
|
||||
max: 2200
|
||||
default: 2000
|
||||
|
||||
PWM_MAIN_DISARM:
|
||||
description:
|
||||
short: PWM main disarmed value
|
||||
long: |
|
||||
This is the PWM pulse the autopilot is outputting if not armed.
|
||||
The main use of this parameter is to silence ESCs when they are disarmed.
|
||||
type: int32
|
||||
unit: us
|
||||
min: 0
|
||||
max: 2200
|
||||
default: 900
|
||||
|
||||
PWM_MAIN_MIN${i}:
|
||||
description:
|
||||
short: PWM main ${i} minimum value
|
||||
long: |
|
||||
This is the minimum PWM pulse the autopilot is allowed to output.
|
||||
When set to -1 the value for PWM_MIN will be used
|
||||
type: int32
|
||||
unit: us
|
||||
min: -1
|
||||
max: 1600
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: -1
|
||||
|
||||
PWM_MAIN_MAX${i}:
|
||||
description:
|
||||
short: PWM main ${i} maximum value
|
||||
long: |
|
||||
This is the maximum PWM pulse the autopilot is allowed to output.
|
||||
When set to -1 the value for PWM_MAX will be used
|
||||
type: int32
|
||||
unit: us
|
||||
min: -1
|
||||
max: 2150
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: -1
|
||||
|
||||
PWM_MAIN_FAIL${i}:
|
||||
description:
|
||||
short: PWM main ${i} failsafe value
|
||||
long: |
|
||||
This is the PWM pulse the autopilot is outputting if in failsafe mode.
|
||||
When set to -1 the value is set automatically depending if the actuator
|
||||
is a motor (900us) or a servo (1500us)
|
||||
type: int32
|
||||
unit: us
|
||||
min: 0
|
||||
max: 2150
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: 0
|
||||
|
||||
PWM_MAIN_DIS${i}:
|
||||
description:
|
||||
short: PWM main ${i} disarmed value
|
||||
long: |
|
||||
This is the PWM pulse the autopilot is outputting if not armed.
|
||||
When set to -1 the value for PWM_DISARMED will be used
|
||||
type: int32
|
||||
unit: us
|
||||
min: -1
|
||||
max: 2150
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: -1
|
||||
|
||||
PWM_MAIN_TRIM${i}:
|
||||
description:
|
||||
short: PWM main ${i} trim value
|
||||
long: |
|
||||
Set to normalized offset
|
||||
type: float
|
||||
min: -0.2
|
||||
max: 0.2
|
||||
decimal: 2
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: 0
|
||||
|
||||
PWM_MAIN_REV${i}:
|
||||
description:
|
||||
short: PWM main ${i} reverse value
|
||||
long: |
|
||||
Enable to invert the channel.
|
||||
Warning: Use this parameter when connected to a servo only.
|
||||
For a brushless motor, invert manually two phases to reverse the direction.
|
||||
type: boolean
|
||||
num_instances: *max_num_config_instances
|
||||
instance_start: 1
|
||||
default: 0
|
||||
|
||||
PWM_MAIN_RATE${i}:
|
||||
description:
|
||||
short: PWM main ${i} rate
|
||||
long: |
|
||||
Set the default PWM output frequency for the main outputs
|
||||
type: int32
|
||||
unit: Hz
|
||||
min: 0
|
||||
max: 400
|
||||
instance_start: 1
|
||||
default: 50
|
||||
Reference in New Issue
Block a user