This driver has been tested and finished first flight

Now I've fixed style of the code

src/drivers/rpi_pca9685_pwm_out/CMakeLists.txt

@@ -35,9 +35,9 @@ px4_add_module(
 	MAIN rpi_pca9685_pwm_out
 	COMPILE_FLAGS
 	SRCS
-	PCA9685.cpp
-	rpi_pca9685_pwm_out.cpp
+		PCA9685.cpp
+		rpi_pca9685_pwm_out.cpp
 	DEPENDS
-	platforms__common
-)
+		platforms__common
+	)
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/rpi_pca9685_pwm_out/PCA9685.cpp

@@ -86,7 +86,7 @@ void PCA9685::setPWMFreq(int freq)
 	int fd = openfd();
 
 	if (fd != -1) {
-		uint8_t prescale = (CLOCK_FREQ / 4096 / freq)  - 1;
+		uint8_t prescale = (CLOCK_FREQ / MAX_PWM_RES / freq)  - 1;
 		//printf ("Setting prescale value to: %d\n", prescale);
 		//printf ("Using Frequency: %d\n", freq);
 

src/drivers/rpi_pca9685_pwm_out/PCA9685.h

@@ -45,6 +45,7 @@
 #define ALLLED_OFF_L 0xFC	//load all the LEDn_OFF registers, byte 0 (turn 0-7 channels off)
 #define ALLLED_OFF_H 0xFD	//load all the LEDn_OFF registers, byte 1 (turn 8-15 channels off)
 #define PRE_SCALE 0xFE		//prescaler for output frequency
+#define MAX_PWM_RES 4096        //10bit精度
 #define CLOCK_FREQ 25000000.0 //25MHz default osc clock
 #define BUFFER_SIZE 0x08  //1 byte buffer
 //! Main class that exports features for PCA9685 chip

src/drivers/rpi_pca9685_pwm_out/rpi_pca9685_pwm_out.cpp

@@ -82,7 +82,7 @@ int rpi_pca9685_pwm_out::pwm_initialize()
 	/**************初始化PCA9685开始*************/
 	pwm.init(1, 0x40);
 	usleep(1000 * 100);
-	pwm.setPWMFreq(61);
+	pwm.setPWMFreq(200);  //12BIT 精度输出下，好赢电调可以到200HZ刷新
 	usleep(1000 * 1000);
 	/**************初始化PCA9685结束************/
 	return 0;
@@ -99,6 +99,7 @@ void rpi_pca9685_pwm_out::send_outputs_pwm(const uint16_t *pwm)
 	int i;
 
 	for (i = 0; i < NUM_PWM; ++i) {
+		PX4_WARN("PWM%d:%d\n", i, *(pwm + i));
 		rpi_pca9685_pwm_out::pwm.setPWM(i, *(pwm + i));
 	}
 }