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898 B
898 B
PWM_limit 状态机
ThePWM_limit State Machine controls PWM outputs as a function of pre-armed and armed inputs.
并且会在解锁指令发出后、飞机油门增加之前引入一个延时。
总览
Inputs
- 解锁（armed）模式：宣告允许执行危险的动作指令，如转动螺旋桨。
- pre-armed: asserted to enable benign behaviors such as moving control surfaces
- this input overrides the current state
- assertion of pre-armed immediately forces behavior of state ON, regardless of current state
- deassertion of pre-armed reverts behavior to current state
States
- INIT 和 OFF
- pwm 输出设置为锁定状态的值。
- RAMP
- pwm outputs ramp from disarmed values to min values.
- 打开
- 根据实际控制量设定 pwm 的输出值。
状态转移图
