move center after standard params

Tools/module_config/generate_actuators_metadata.py

@@ -180,6 +180,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                 channel_labels = [process_channel_label(module_name, label, no_prefix)
                     for label in group['channel_labels']]
                 standard_params = group.get('standard_params', [])
+                center = group.get('center', None)
                 extra_function_groups = group.get('extra_function_groups', [])
                 pwm_timer_param = group.get('pwm_timer_param', None)
                 if 'timer_config_file' in group:
@@ -189,7 +190,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                 timer_groups = get_timer_groups(timer_config_file, verbose)
                 timer_output_groups, timer_params = get_output_groups(timer_groups,
                     param_prefix, channel_labels,
-                    standard_params, extra_function_groups, pwm_timer_param,
+                    standard_params, center, extra_function_groups, pwm_timer_param,
                     verbose=verbose)
                 output_groups.extend(timer_output_groups)
             else:
@@ -233,6 +234,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
         per_channel_params = []
         param_prefix = process_param_prefix(group['param_prefix'])
         standard_params = group.get('standard_params', {})
+        center = group.get('center', None)
         standard_params_array = [
             ( 'function', 'Function', 'FUNC', False ),
             ( 'disarmed', 'Disarmed', 'DIS', False ),
@@ -255,11 +257,12 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                 if show_if: param['show-if'] = show_if
                 per_channel_params.append(param)
 
-        center = {
-            'label': 'Center\n(for Servos)',
-            'name': param_prefix+'_CENT${i}',
-        }
-        per_channel_params.append(center)
+        if center is not None:
+            center_param = {
+                'label': 'Center\n(for Servos)',
+                'name': param_prefix+'_CENT${i}',
+            }
+            per_channel_params.append(center_param)
         param = {
                 'label': 'Rev Range\n(for Servos)',
                 'name': param_prefix+'_REV',

Tools/module_config/generate_params.py

@@ -202,6 +202,7 @@ def get_actuator_output_params(yaml_config, output_functions,
                 channel_labels = [process_channel_label(module_name, label, no_prefix)
                     for label in group['channel_labels']]
                 standard_params = group.get('standard_params', [])
+                center = group.get('center', None)
                 extra_function_groups = group.get('extra_function_groups', [])
                 pwm_timer_param = group.get('pwm_timer_param', None)
                 if 'timer_config_file' in group:
@@ -211,7 +212,7 @@ def get_actuator_output_params(yaml_config, output_functions,
                 timer_groups = get_timer_groups(timer_config_file, verbose)
                 timer_output_groups, timer_params = get_output_groups(timer_groups,
                     param_prefix, channel_labels,
-                    standard_params, extra_function_groups, pwm_timer_param,
+                    standard_params, center, extra_function_groups, pwm_timer_param,
                     verbose=verbose)
                 all_params.update(timer_params)
                 output_groups.extend(timer_output_groups)
@@ -225,6 +226,7 @@ def get_actuator_output_params(yaml_config, output_functions,
         no_prefix = not group.get('channel_label_module_name_prefix', True)
         channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
         standard_params = group.get('standard_params', {})
+        center_param = group.get('center', None)
         instance_start = group.get('instance_start', 1)
         instance_start_label = group.get('instance_start_label', instance_start)
         if len(param_prefix) > 9: # 16 - len('_FAIL') - 2 (2 digits for index)
@@ -299,7 +301,6 @@ When set to -1 (default), the value depends on the function (see {:}).
         standard_params_array = [
             ( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
             ( 'min', 'Minimum', 'MIN', minimum_description ),
-            ( 'center', 'Center', 'CENT', center_description ),
             ( 'max', 'Maximum', 'MAX', maximum_description ),
             ( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
             ]
@@ -316,10 +317,6 @@ When set to -1 (default), the value depends on the function (see {:}).
                     standard_params[key]['default'] = -1
                     standard_params[key]['min'] = -1
 
-                if key == 'center':
-                    standard_params[key]['default'] = -1
-                    standard_params[key]['min'] = -1
-
                 param = {
                     'description': {
                         'short': channel_label+' ${i} '+label+' Value',
@@ -335,6 +332,33 @@ When set to -1 (default), the value depends on the function (see {:}).
                     }
                 add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
 
+        # center param is handled after standard params
+        if center_param is not None:
+
+            # values must be in range of an uint16_t
+            if center_param['min'] < 0:
+                raise Exception('minimum value for center expected >= 0 (got {:})'.format(center_param['min']))
+            if center_param['max'] >= 1<<16:
+                raise Exception('maximum value for center expected <= {:} (got {:})'.format(1<<16, center_param['max']))
+
+            center_param['default'] = -1
+            center_param['min'] = -1
+
+            param = {
+                'description': {
+                    'short': channel_label+' ${i} Center Value',
+                    'long': center_description
+                    },
+                'type': 'int32',
+                'instance_start': instance_start,
+                'instance_start_label': instance_start_label,
+                'num_instances': num_channels,
+                'min': center_param['min'],
+                'max': center_param['max'],
+                'default': center_param['default'],
+                }
+            add_local_param(param_prefix+'_CENT${i}', param)
+
     # add reverse range param
     for param_prefix in all_param_prefixes:
         groups = all_param_prefixes[param_prefix]

Tools/module_config/output_groups_from_timer_config.py

@@ -141,6 +141,7 @@ def get_timer_groups(timer_config_file, verbose=False):
 def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
         channel_labels=["PWM Main", "PWM Capture"],
         standard_params=[],
+    center=None,
         extra_function_groups=[], pwm_timer_param=None,
         verbose=False):
     """ convert the timer groups into an output_groups section of module.yaml
@@ -182,6 +183,9 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
             'channel_label_module_name_prefix': False,
         }
 
+        if center is not None:
+            group['center'] = deepcopy(center)
+
         if pwm_timer_param is not None:
             pwm_timer_param_cp = deepcopy(pwm_timer_param)
             timer_param_name = param_prefix+'_TIM'+str(timer_index)
@@ -199,6 +203,9 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
                 for standard_param in group['standard_params']:
                     group['standard_params'][standard_param]['show_if'] = timer_param_name + '>=-1'
 
+                if 'center' in group:
+                    group['center']['show_if'] = timer_param_name + '>=-1'
+
                 # indicate support for changing motor spin direction
                 group['supported_actions'] = {
                         'set_spin_direction1': {

src/drivers/pwm_out/module.yaml

@@ -8,8 +8,8 @@ actuator_output:
         disarmed: { min: 800, max: 2200, default: 1000 }
         min: { min: 800, max: 1400, default: 1000 }
         max: { min: 1600, max: 2200, default: 2000 }
-        center: { min: 800, max: 2200}
         failsafe: { min: 800, max: 2200 }
+      center: { min: 800, max: 2200}
       extra_function_groups: [ pwm_fmu ]
       pwm_timer_param:
         description: