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params: use PWM_MAIN_* instead of PWM_FMU_*

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This commit is contained in:
Beat Küng
2021-10-18 18:45:19 -04:00
committed by Daniel Agar
parent ba4a1ec6c4
commit ab1d76ae7d
15 changed files with 58 additions and 149 deletions
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src/drivers/dshot/DShot.h
+6 -1
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@@ -140,7 +140,12 @@ private:
void update_telemetry_num_motors();
MixingOutput _mixing_output{"PWM_FMU", DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
#ifdef BOARD_WITH_IO
# define PARAM_PREFIX "PWM_AUX"
#else
# define PARAM_PREFIX "PWM_MAIN"
#endif
MixingOutput _mixing_output {PARAM_PREFIX, DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
Telemetry *_telemetry{nullptr};
src/drivers/pwm_out/PWMOut.hpp
+6 -1
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@@ -130,7 +130,12 @@ private:
static const int MAX_PER_INSTANCE{8};
MixingOutput _mixing_output{"PWM_FMU", FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
#ifdef BOARD_WITH_IO
# define PARAM_PREFIX "PWM_AUX"
#else
# define PARAM_PREFIX "PWM_MAIN"
#endif
MixingOutput _mixing_output {PARAM_PREFIX, FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
uint32_t _backup_schedule_interval_us{1_s};
src/drivers/pwm_out/module.yaml
+2 -2
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@@ -2,8 +2,8 @@ module_name: PWM Output
actuator_output:
output_groups:
- generator: pwm
param_prefix: PWM_FMU
channel_labels: ['PWM Main', 'PWM Capture']
param_prefix: '${PWM_MAIN_OR_AUX}'
channel_labels: ['${PWM_MAIN_OR_AUX}', 'PWM Capture']
standard_params:
disarmed: { min: 800, max: 2200, default: 900 }
min: { min: 800, max: 1400, default: 1000 }
src/drivers/pwm_out_sim/PWMSim.hpp
+1 -1
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@@ -45,7 +45,7 @@
#include <uORB/topics/parameter_update.h>
#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
#define PARAM_PREFIX "PWM_FMU"
#define PARAM_PREFIX "PWM_MAIN"
#else
#define PARAM_PREFIX "HIL_ACT"
#endif
src/drivers/pwm_out_sim/module.yaml
+2 -2
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@@ -2,7 +2,7 @@
module_name: PWM Sim
actuator_output:
output_groups:
- param_prefix: ${PWM_FMU_OR_HIL}
channel_label: ${PWM_FMU_OR_HIL}
- param_prefix: ${PWM_MAIN_OR_HIL}
channel_label: ${PWM_MAIN_OR_HIL}
num_channels: 16
src/lib/parameters/CMakeLists.txt
+4 -1
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@@ -79,6 +79,9 @@ endif()
if(PX4_ETHERNET)
set(added_arguments --ethernet)
endif()
if(config_io_board)
set(board_with_io_arg --board-with-io)
endif()
add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_params_file}
COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
@@ -87,7 +90,7 @@ add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_par
--config-files ${module_config_files} #--verbose
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
--params-file ${generated_module_params_file}
${added_arguments}
${added_arguments} ${board_with_io_arg}
--timer-config ${PX4_BOARD_DIR}/src/timer_config.cpp
--config-files ${module_config_files} #--verbose
--board ${PX4_BOARD}
src/lib/pwm/pwm_aux_params.yaml
-57
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@@ -63,63 +63,6 @@ parameters:
max: 2200
default: 1500
PWM_AUX_MIN${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 ${i} failsafe value
long: |
This is the PWM pulse the autopilot is outputting if in failsafe mode.
When set to -1 the value is set automatically depending if the actuator
is a motor (900us) or a servo (1500us)
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_AUX_DIS${i}:
description:
short: PWM aux ${i} disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
When set to -1 the value for PWM_AUX_DISARM will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_AUX_TRIM${i}:
description:
short: PWM aux ${i} trim value
src/lib/pwm/pwm_main_params.yaml
-57
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@@ -63,63 +63,6 @@ parameters:
max: 2200
default: 900
PWM_MAIN_MIN${i}:
description:
short: PWM main ${i} minimum value
long: |
This is the minimum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_MAIN_MIN will be used
type: int32
unit: us
min: -1
max: 1600
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_MAIN_MAX${i}:
description:
short: PWM main ${i} maximum value
long: |
This is the maximum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_MAIN_MAX will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_MAIN_FAIL${i}:
description:
short: PWM main ${i} failsafe value
long: |
This is the PWM pulse the autopilot is outputting if in failsafe mode.
When set to -1 the value is set automatically depending if the actuator
is a motor (900us) or a servo (1500us)
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_MAIN_DIS${i}:
description:
short: PWM main ${i} disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
When set to -1 the value for PWM_MAIN_DISARM will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_MAIN_TRIM${i}:
description:
short: PWM main ${i} trim value