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PWM: Add servo center setting & asymetric deflection (#25897)

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Add PWM_*_CENTERx for each servo.
Use a bilinear transform to map actuator_servos to PWM signals.

This solution only works for PWM based servos. Other types of servos are not affected.

* PWM: Add servo trim option

* PWM: Improve documentation of PWM trim feature

* PWM: cleaner clamping and docs typo

* update documentation & safety

* add migration formula

* rename param from trim to center

* docs with center instead of trim

* move clamping and reorder values

* improve documentation

* adress failing range check

* improve documentation

* CA: add event for setting CENTER with TRIM

Signed-off-by: Silvan <silvan@auterion.com>

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
This commit is contained in:
Nick
2026-01-22 13:53:45 +01:00
committed by Silvan Fuhrer
co-authored by Silvan
parent 15f5fefa0c
commit da89d5e939
13 changed files with 187 additions and 11 deletions
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Tools/module_config/generate_actuators_metadata.py
+1
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@@ -238,6 +238,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
( 'disarmed', 'Disarmed', 'DIS', False ),
( 'min', 'Minimum', 'MIN', False ),
( 'max', 'Maximum', 'MAX', False ),
( 'center', 'Center\n(for Servos)', 'CENT', False ),
( 'failsafe', 'Failsafe', 'FAIL', True ),
]
for key, label, param_suffix, advanced in standard_params_array: