mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 06:43:33 +08:00
802 lines
19 KiB
C
802 lines
19 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file pwm_params_aux.c
|
|
*
|
|
* Parameters defined for PWM output.
|
|
*
|
|
*/
|
|
|
|
/******************************************************************************
|
|
* PWM_AUX_RATE *
|
|
******************************************************************************/
|
|
|
|
/**
|
|
* Set the PWM output frequency for the auxiliary outputs
|
|
*
|
|
* Set to 400 for industry default or 1000 for high frequency ESCs.
|
|
*
|
|
* Set to 0 for Oneshot125.
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2000
|
|
* @unit Hz
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_RATE, 50);
|
|
|
|
/**
|
|
* Set the minimum PWM for the auxiliary outputs
|
|
*
|
|
* Set to 1000 for industry default or 900 to increase servo travel.
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min 800
|
|
* @max 1400
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MIN, 1000);
|
|
|
|
/**
|
|
* Set the maximum PWM for the auxiliary outputs
|
|
*
|
|
* Set to 2000 for industry default or 2100 to increase servo travel.
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min 1600
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
|
|
|
|
/**
|
|
* Set the disarmed PWM for auxiliary outputs
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if not armed.
|
|
* The main use of this parameter is to silence ESCs when they are disarmed.
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min 0
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1500);
|
|
|
|
/******************************************************************************
|
|
* PWM_AUX_MIN *
|
|
******************************************************************************/
|
|
/**
|
|
* Set the min PWM value for the auxiliary 1 output
|
|
*
|
|
* This is the minimum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MIN will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MIN1, -1);
|
|
|
|
/**
|
|
* Set the min PWM value for the auxiliary 2 output
|
|
*
|
|
* This is the minimum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MIN will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MIN2, -1);
|
|
|
|
/**
|
|
* Set the min PWM value for the auxiliary 3 output
|
|
*
|
|
* This is the minimum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MIN will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MIN3, -1);
|
|
|
|
/**
|
|
* Set the min PWM value for the auxiliary 4 output
|
|
*
|
|
* This is the minimum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MIN will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MIN4, -1);
|
|
|
|
/**
|
|
* Set the min PWM value for the auxiliary 5 output
|
|
*
|
|
* This is the minimum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MIN will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MIN5, -1);
|
|
|
|
/**
|
|
* Set the min PWM value for the auxiliary 6 output
|
|
*
|
|
* This is the minimum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MIN will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MIN6, -1);
|
|
|
|
/**
|
|
* Set the min PWM value for the auxiliary 7 output
|
|
*
|
|
* This is the minimum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MIN will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MIN7, -1);
|
|
|
|
/**
|
|
* Set the min PWM value for the auxiliary 8 output
|
|
*
|
|
* This is the minimum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MIN will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MIN8, -1);
|
|
|
|
/******************************************************************************
|
|
* PWM_AUX_MAX *
|
|
******************************************************************************/
|
|
/**
|
|
* Set the max PWM value for the auxiliary 1 output
|
|
*
|
|
* This is the maximum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MAX will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MAX1, -1);
|
|
|
|
/**
|
|
* Set the max PWM value for the auxiliary 2 output
|
|
*
|
|
* This is the maximum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MAX will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MAX2, -1);
|
|
|
|
/**
|
|
* Set the max PWM value for the auxiliary 3 output
|
|
*
|
|
* This is the maximum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MAX will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MAX3, -1);
|
|
|
|
/**
|
|
* Set the max PWM value for the auxiliary 4 output
|
|
*
|
|
* This is the maximum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MAX will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MAX4, -1);
|
|
|
|
/**
|
|
* Set the max PWM value for the auxiliary 5 output
|
|
*
|
|
* This is the maximum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MAX will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MAX5, -1);
|
|
|
|
/**
|
|
* Set the max PWM value for the auxiliary 6 output
|
|
*
|
|
* This is the maximum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MAX will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MAX6, -1);
|
|
|
|
/**
|
|
* Set the max PWM value for the auxiliary 7 output
|
|
*
|
|
* This is the maximum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MAX will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MAX7, -1);
|
|
|
|
/**
|
|
* Set the max PWM value for the auxiliary 8 output
|
|
*
|
|
* This is the maximum PWM pulse the autopilot is allowed to output.
|
|
* When set to -1 the value for PWM_AUX_MAX will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_MAX8, -1);
|
|
|
|
/******************************************************************************
|
|
* PWM_AUX_FAIL *
|
|
******************************************************************************/
|
|
/**
|
|
* Set the failsafe PWM for the auxiliary 1 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
|
|
* When set to -1 the value is set automatically depending if the actuator
|
|
* is a motor (900us) or a servo (1500us)
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_FAIL1, -1);
|
|
|
|
/**
|
|
* Set the failsafe PWM for the auxiliary 2 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
|
|
* When set to -1 the value is set automatically depending if the actuator
|
|
* is a motor (900us) or a servo (1500us)
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_FAIL2, -1);
|
|
|
|
/**
|
|
* Set the failsafe PWM for the auxiliary 3 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
|
|
* When set to -1 the value is set automatically depending if the actuator
|
|
* is a motor (900us) or a servo (1500us)
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_FAIL3, -1);
|
|
|
|
/**
|
|
* Set the failsafe PWM for the auxiliary 4 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
|
|
* When set to -1 the value is set automatically depending if the actuator
|
|
* is a motor (900us) or a servo (1500us)
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_FAIL4, -1);
|
|
|
|
/**
|
|
* Set the failsafe PWM for the auxiliary 5 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
|
|
* When set to -1 the value is set automatically depending if the actuator
|
|
* is a motor (900us) or a servo (1500us)
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_FAIL5, -1);
|
|
|
|
/**
|
|
* Set the failsafe PWM for the auxiliary 6 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
|
|
* When set to -1 the value is set automatically depending if the actuator
|
|
* is a motor (900us) or a servo (1500us)
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_FAIL6, -1);
|
|
|
|
/**
|
|
* Set the failsafe PWM for the auxiliary 7 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
|
|
* When set to -1 the value is set automatically depending if the actuator
|
|
* is a motor (900us) or a servo (1500us)
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_FAIL7, -1);
|
|
|
|
/**
|
|
* Set the failsafe PWM for the auxiliary 8 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if in failsafe mode.
|
|
* When set to -1 the value is set automatically depending if the actuator
|
|
* is a motor (900us) or a servo (1500us)
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_FAIL8, -1);
|
|
|
|
/******************************************************************************
|
|
* PWM_AUX_DIS *
|
|
******************************************************************************/
|
|
/**
|
|
* Set the disarmed PWM for the auxiliary 1 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if not armed.
|
|
* When set to -1 the value for PWM_AUX_DISARMED will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_DIS1, -1);
|
|
|
|
/**
|
|
* Set the disarmed PWM for the auxiliary 2 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if not armed.
|
|
* When set to -1 the value for PWM_AUX_DISARMED will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_DIS2, -1);
|
|
|
|
/**
|
|
* Set the disarmed PWM for the auxiliary 3 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if not armed.
|
|
* When set to -1 the value for PWM_AUX_DISARMED will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_DIS3, -1);
|
|
|
|
/**
|
|
* Set the disarmed PWM for the auxiliary 4 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if not armed.
|
|
* When set to -1 the value for PWM_AUX_DISARMED will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_DIS4, -1);
|
|
|
|
/**
|
|
* Set the disarmed PWM for the auxiliary 5 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if not armed.
|
|
* When set to -1 the value for PWM_AUX_DISARMED will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_DIS5, -1);
|
|
|
|
/**
|
|
* Set the disarmed PWM for the auxiliary 6 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if not armed.
|
|
* When set to -1 the value for PWM_AUX_DISARMED will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_DIS6, -1);
|
|
|
|
/**
|
|
* Set the disarmed PWM for the auxiliary 7 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if not armed.
|
|
* When set to -1 the value for PWM_AUX_DISARMED will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_DIS7, -1);
|
|
|
|
/**
|
|
* Set the disarmed PWM for the auxiliary 8 output
|
|
*
|
|
* This is the PWM pulse the autopilot is outputting if not armed.
|
|
* When set to -1 the value for PWM_AUX_DISARMED will be used
|
|
*
|
|
* @reboot_required true
|
|
*
|
|
* @min -1
|
|
* @max 2200
|
|
* @unit us
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_DIS8, -1);
|
|
|
|
/******************************************************************************
|
|
* PWM_AUX_REV *
|
|
******************************************************************************/
|
|
/**
|
|
* Invert direction of auxiliary output channel 1
|
|
*
|
|
* Enable to invert the channel.
|
|
* Warning: Use this parameter when connected to a servo only.
|
|
* For a brushless motor, invert manually two phases to reverse the direction.
|
|
*
|
|
* @boolean
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_REV1, 0);
|
|
|
|
/**
|
|
* Invert direction of auxiliary output channel 2
|
|
*
|
|
* Enable to invert the channel.
|
|
* Warning: Use this parameter when connected to a servo only.
|
|
* For a brushless motor, invert manually two phases to reverse the direction.
|
|
*
|
|
* @boolean
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_REV2, 0);
|
|
|
|
/**
|
|
* Invert direction of auxiliary output channel 3
|
|
*
|
|
* Enable to invert the channel.
|
|
* Warning: Use this parameter when connected to a servo only.
|
|
* For a brushless motor, invert manually two phases to reverse the direction.
|
|
*
|
|
* @boolean
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_REV3, 0);
|
|
|
|
/**
|
|
* Invert direction of auxiliary output channel 4
|
|
*
|
|
* Enable to invert the channel.
|
|
* Warning: Use this parameter when connected to a servo only.
|
|
* For a brushless motor, invert manually two phases to reverse the direction.
|
|
*
|
|
* @boolean
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_REV4, 0);
|
|
|
|
/**
|
|
* Invert direction of auxiliary output channel 5
|
|
*
|
|
* Enable to invert the channel.
|
|
* Warning: Use this parameter when connected to a servo only.
|
|
* For a brushless motor, invert manually two phases to reverse the direction.
|
|
*
|
|
* @boolean
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_REV5, 0);
|
|
|
|
/**
|
|
* Invert direction of auxiliary output channel 6
|
|
*
|
|
* Enable to invert the channel.
|
|
* Warning: Use this parameter when connected to a servo only.
|
|
* For a brushless motor, invert manually two phases to reverse the direction.
|
|
*
|
|
* @boolean
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_REV6, 0);
|
|
|
|
/**
|
|
* Invert direction of auxiliary output channel 7
|
|
*
|
|
* Enable to invert the channel.
|
|
* Warning: Use this parameter when connected to a servo only.
|
|
* For a brushless motor, invert manually two phases to reverse the direction.
|
|
*
|
|
* @boolean
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_REV7, 0);
|
|
|
|
/**
|
|
* Invert direction of auxiliary output channel 8
|
|
*
|
|
* Enable to invert the channel.
|
|
* Warning: Use this parameter when connected to a servo only.
|
|
* For a brushless motor, invert manually two phases to reverse the direction.
|
|
*
|
|
* @boolean
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_INT32(PWM_AUX_REV8, 0);
|
|
|
|
/******************************************************************************
|
|
* PWM_AUX_TRIM *
|
|
******************************************************************************/
|
|
|
|
/**
|
|
* Trim value for auxiliary output channel 1
|
|
*
|
|
* Set to normalized offset
|
|
*
|
|
* @min -0.2
|
|
* @max 0.2
|
|
* @decimal 2
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM1, 0);
|
|
|
|
/**
|
|
* Trim value for auxiliary output channel 2
|
|
*
|
|
* Set to normalized offset
|
|
*
|
|
* @min -0.2
|
|
* @max 0.2
|
|
* @decimal 2
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM2, 0);
|
|
|
|
/**
|
|
* Trim value for auxiliary output channel 3
|
|
*
|
|
* Set to normalized offset
|
|
*
|
|
* @min -0.2
|
|
* @max 0.2
|
|
* @decimal 2
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM3, 0);
|
|
|
|
/**
|
|
* Trim value for auxiliary output channel 4
|
|
*
|
|
* Set to normalized offset
|
|
*
|
|
* @min -0.2
|
|
* @max 0.2
|
|
* @decimal 2
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM4, 0);
|
|
|
|
/**
|
|
* Trim value for auxiliary output channel 5
|
|
*
|
|
* Set to normalized offset
|
|
*
|
|
* @min -0.2
|
|
* @max 0.2
|
|
* @decimal 2
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM5, 0);
|
|
|
|
/**
|
|
* Trim value for auxiliary output channel 6
|
|
*
|
|
* Set to normalized offset
|
|
*
|
|
* @min -0.2
|
|
* @max 0.2
|
|
* @decimal 2
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM6, 0);
|
|
|
|
/**
|
|
* Trim value for auxiliary output channel 7
|
|
*
|
|
* Set to normalized offset
|
|
*
|
|
* @min -0.2
|
|
* @max 0.2
|
|
* @decimal 2
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM7, 0);
|
|
|
|
/**
|
|
* Trim value for auxiliary output channel 8
|
|
*
|
|
* Set to normalized offset
|
|
*
|
|
* @min -0.2
|
|
* @max 0.2
|
|
* @decimal 2
|
|
* @group PWM Outputs
|
|
*/
|
|
PARAM_DEFINE_FLOAT(PWM_AUX_TRIM8, 0);
|