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28 lines
898 B
Markdown
28 lines
898 B
Markdown
# PWM_limit 状态机
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The`PWM_limit State Machine` controls PWM outputs as a function of pre-armed and armed inputs.
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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。
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## 总览
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**Inputs**
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- 解锁（armed）模式：宣告允许执行危险的动作指令，如转动螺旋桨。
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- pre-armed: asserted to enable benign behaviors such as moving control surfaces
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- this input overrides the current state
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- assertion of pre-armed immediately forces behavior of state ON, regardless of current state
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- deassertion of pre-armed reverts behavior to current state
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**States**
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- INIT 和 OFF
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- pwm 输出设置为锁定状态的值。
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- RAMP
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- pwm outputs ramp from disarmed values to min values.
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- 打开
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- 根据实际控制量设定 pwm 的输出值。
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## 状态转移图
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