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28 lines
914 B
Markdown
28 lines
914 B
Markdown
# PWM_limit State Machine
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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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Provides a delay between assertion of "armed" and a ramp-up of throttle on assertion of the armed signal.
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## Quick Summary
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**Inputs**
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- armed: asserted to enable dangerous behaviors such as spinning propellers
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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 and OFF
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- pwm outputs set to disarmed values.
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- RAMP
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- pwm outputs ramp from disarmed values to min values.
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- ON
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- pwm outputs set according to control values.
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## State Transition Diagram
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