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change trim units from absolute usec to normalized values

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This commit is contained in:
Mark Whitehorn
2016-12-10 12:56:39 +01:00
committed by Lorenz Meier
parent d8528f46ce
commit dbc149c224
11 changed files with 48 additions and 51 deletions
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src/modules/px4iofirmware/mixer.cpp
+1 -1
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@@ -256,7 +256,7 @@ mixer_tick(void)
/* the pwm limit call takes care of out of band errors */
pwm_limit_calc(should_arm, should_arm_nothrottle, mixed, r_setup_pwm_reverse, r_page_servo_disarmed,
r_page_servo_control_min, r_page_servo_control_max, r_page_servo_control_trim, outputs, r_page_servos, &pwm_limit);
r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
/* clamp unused outputs to zero */
for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) {
src/modules/px4iofirmware/px4io.h
+1 -1
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@@ -90,7 +90,7 @@ extern uint16_t r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */
extern uint16_t r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */
extern uint16_t r_page_servo_control_min[]; /* PX4IO_PAGE_CONTROL_MIN_PWM */
extern uint16_t r_page_servo_control_max[]; /* PX4IO_PAGE_CONTROL_MAX_PWM */
extern uint16_t r_page_servo_control_trim[]; /* PX4IO_PAGE_CONTROL_TRIM_PWM */
extern int16_t r_page_servo_control_trim[]; /* PX4IO_PAGE_CONTROL_TRIM_PWM */
extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */
/*
src/modules/px4iofirmware/registers.c
+2 -2
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@@ -260,10 +260,10 @@ uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_MAX, PWM_D
/**
* PAGE 108
*
* trim PWM values for center position
* trim values for center position
*
*/
uint16_t r_page_servo_control_trim[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM };
int16_t r_page_servo_control_trim[PX4IO_SERVO_COUNT] = { PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM, PWM_DEFAULT_TRIM };
/**
* PAGE 109