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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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352 lines
7.9 KiB
C
352 lines
7.9 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file pwm_params.c
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*
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* Parameters defined for PWM output.
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*
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*/
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/**
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* Set the PWM output frequency for the main outputs
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*
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* Set to 400 for industry default or 1000 for high frequency ESCs.
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*
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* Set to 0 for Oneshot125.
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2000
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* @unit Hz
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_RATE, 400);
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/**
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* Set the minimum PWM for the main outputs
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*
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* Set to 1000 for industry default or 900 to increase servo travel.
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*
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* @reboot_required true
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*
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* @min 800
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* @max 1400
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MIN, 1000);
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/**
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* Set the maximum PWM for the main outputs
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*
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* Set to 2000 for industry default or 2100 to increase servo travel.
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*
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* @reboot_required true
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*
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* @min 1600
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAX, 2000);
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/**
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* Set the disarmed PWM for the main outputs
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* The main use of this parameter is to silence ESCs when they are disarmed.
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*
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* @reboot_required true
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*
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* @min 0
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_DISARMED, 900);
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/**
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* Set the disarmed PWM for the main 1 output
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* When set to -1 the value for PWM_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS1, -1);
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/**
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* Set the disarmed PWM for the main 2 output
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* When set to -1 the value for PWM_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS2, -1);
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/**
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* Set the disarmed PWM for the main 3 output
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* When set to -1 the value for PWM_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS3, -1);
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/**
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* Set the disarmed PWM for the main 4 output
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* When set to -1 the value for PWM_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS4, -1);
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/**
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* Set the disarmed PWM for the main 5 output
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* When set to -1 the value for PWM_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS5, -1);
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/**
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* Set the disarmed PWM for the main 6 output
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* When set to -1 the value for PWM_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS6, -1);
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/**
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* Set the disarmed PWM for the main 7 output
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* When set to -1 the value for PWM_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS7, -1);
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/**
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* Set the disarmed PWM for the main 8 output
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* When set to -1 the value for PWM_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS8, -1);
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/**
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* Set the disarmed PWM for the AUX 1 output
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* When set to -1 the value for PWM_AUX_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_DIS1, -1);
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/**
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* Set the disarmed PWM for the AUX 2 output
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* When set to -1 the value for PWM_AUX_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_DIS2, -1);
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/**
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* Set the disarmed PWM for the AUX 3 output
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* When set to -1 the value for PWM_AUX_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_DIS3, -1);
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/**
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* Set the disarmed PWM for the AUX 4 output
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* When set to -1 the value for PWM_AUX_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_DIS4, -1);
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/**
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* Set the disarmed PWM for the AUX 5 output
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* When set to -1 the value for PWM_AUX_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_DIS5, -1);
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/**
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* Set the disarmed PWM for the AUX 6 output
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* When set to -1 the value for PWM_AUX_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_DIS6, -1);
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/**
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* Set the minimum PWM for the auxiliary outputs
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*
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* Set to 1000 for default or 900 to increase servo travel
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*
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* @reboot_required true
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*
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* @min 800
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* @max 1400
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_MIN, 1000);
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/**
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* Set the maximum PWM for the auxiliary outputs
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*
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* Set to 2000 for default or 2100 to increase servo travel
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*
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* @reboot_required true
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*
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* @min 1600
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
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/**
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* Set the disarmed PWM for auxiliary outputs
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*
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* This is the PWM pulse the autopilot is outputting if not armed.
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* The main use of this parameter is to silence ESCs when they are disarmed.
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*
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* @reboot_required true
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*
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* @min 0
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1500);
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