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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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159 lines
5.0 KiB
YAML
159 lines
5.0 KiB
YAML
__max_num_config_instances: &max_num_config_instances 8
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module_name: pwm_out
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parameters:
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- group: PWM Outputs
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definitions:
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PWM_AUX_OUT:
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description:
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short: PWM channels used as ESC outputs
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long: |
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Number representing the channels e.g. 134 - Channel 1, 3 and 4.
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Global e.g. PWM_AUX_MIN/MAX/DISARM limits only apply to these channels.
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type: int32
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min: 0
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max: 123456789
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default: 0
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PWM_AUX_RATE:
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description:
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short: PWM aux output frequency
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long: |
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Set to 400 for industry default or 1000 for high frequency ESCs.
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Set to 0 for Oneshot125.
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type: int32
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unit: Hz
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min: -1
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max: 2000
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default: 50
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PWM_AUX_MIN:
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description:
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short: PWM aux minimum value
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long: |
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Set to 1000 for industry default or 900 to increase servo travel.
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type: int32
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unit: us
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min: 800
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max: 1400
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default: 1000
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PWM_AUX_MAX:
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description:
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short: PWM aux maximum value
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long: |
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Set to 2000 for industry default or 2100 to increase servo travel.
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type: int32
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unit: us
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min: 1600
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max: 2200
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default: 2000
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PWM_AUX_DISARM:
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description:
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short: PWM aux disarmed value
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long: |
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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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type: int32
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unit: us
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min: 0
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max: 2200
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default: 1500
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PWM_AUX_MIN${i}:
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description:
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short: PWM aux ${i} minimum value
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long: |
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This is the minimum PWM pulse the autopilot is allowed to output.
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When set to -1 the value for PWM_AUX_MIN will be used
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type: int32
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unit: us
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min: -1
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max: 1600
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_AUX_MAX${i}:
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description:
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short: PWM aux ${i} maximum value
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long: |
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This is the maximum PWM pulse the autopilot is allowed to output.
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When set to -1 the value for PWM_AUX_MAX will be used
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type: int32
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unit: us
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min: -1
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_AUX_FAIL${i}:
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description:
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short: PWM aux ${i} failsafe value
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long: |
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This is the PWM pulse the autopilot is outputting if in failsafe mode.
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When set to -1 the value is set automatically depending if the actuator
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is a motor (900us) or a servo (1500us)
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type: int32
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unit: us
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min: -1
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_AUX_DIS${i}:
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description:
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short: PWM aux ${i} disarmed value
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long: |
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This is the PWM pulse the autopilot is outputting if not armed.
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When set to -1 the value for PWM_AUX_DISARM will be used
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type: int32
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unit: us
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min: -1
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max: 2150
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num_instances: *max_num_config_instances
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instance_start: 1
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default: -1
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PWM_AUX_TRIM${i}:
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description:
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short: PWM aux ${i} trim value
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long: |
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Set to normalized offset
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type: float
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min: -0.2
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max: 0.2
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decimal: 2
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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PWM_AUX_REV${i}:
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description:
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short: PWM aux ${i} reverse value
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long: |
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Enable to invert the channel.
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Warning: Use this parameter when connected to a servo only.
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For a brushless motor, invert manually two phases to reverse the direction.
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type: boolean
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num_instances: *max_num_config_instances
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instance_start: 1
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default: 0
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PWM_AUX_RATE${i}:
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description:
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short: PWM aux ${i} rate
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long: |
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Set the default PWM output frequency for the aux outputs
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type: int32
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unit: Hz
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min: 0
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max: 400
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instance_start: 1
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default: 50
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