FMU driver: Support pwm reversal, prepare config parameters

src/drivers/px4fmu/fmu.cpp

@@ -157,6 +157,7 @@ private:
 	uint16_t	_disarmed_pwm[_max_actuators];
 	uint16_t	_min_pwm[_max_actuators];
 	uint16_t	_max_pwm[_max_actuators];
+	uint16_t	_reverse_pwm_mask;
 	unsigned	_num_failsafe_set;
 	unsigned	_num_disarmed_set;
 
@@ -269,6 +270,7 @@ PX4FMU::PX4FMU() :
 	_pwm_limit{},
 	_failsafe_pwm{0},
 	_disarmed_pwm{0},
+	_reverse_pwm_mask(0),
 	_num_failsafe_set(0),
 	_num_disarmed_set(0)
 {
@@ -684,7 +686,7 @@ PX4FMU::task_main()
 				uint16_t pwm_limited[num_outputs];
 
 				/* the PWM limit call takes care of out of band errors and constrains */
-				pwm_limit_calc(_servo_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
+				pwm_limit_calc(_servo_armed, num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
 
 				/* output to the servos */
 				for (unsigned i = 0; i < num_outputs; i++) {

src/drivers/px4fmu/module.mk

@@ -3,7 +3,8 @@
 #
 
 MODULE_COMMAND	 = fmu
-SRCS		 = fmu.cpp
+SRCS		 = fmu.cpp \
+		   px4fmu_params.c
 
 MODULE_STACKSIZE = 1200
 

src/drivers/px4fmu/px4fmu_params.c

@@ -0,0 +1,109 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4fmu_params.c
+ *
+ * Parameters defined by the PX4FMU driver
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
+
+/**
+ * Inverter for main output channel 1
+ *
+ * Set to 1 to invert the channel.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_SCALE1, 1);
+
+/**
+ * Inverter for main output channel 2
+ *
+ * Set to 1 to invert the channel.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_SCALE2, 1);
+
+/**
+ * Inverter for main output channel 3
+ *
+ * Set to 1 to invert the channel.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_SCALE3, 1);
+
+/**
+ * Inverter for main output channel 4
+ *
+ * Set to 1 to invert the channel.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_SCALE4, 1);
+
+/**
+ * Inverter for main output channel 5
+ *
+ * Set to 1 to invert the channel.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_SCALE5, 1);
+
+/**
+ * Inverter for main output channel 6
+ *
+ * Set to 1 to invert the channel.
+ *
+ * @min 0
+ * @max 1
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_SCALE6, 1);