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Failsafe PWM - Add PWM_MAIN/AUX_FAILx parameters to set "failsafe" values.

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This commit is contained in:
bresch
2018-08-07 10:28:09 +02:00
committed by Daniel Agar
parent b0bbc56d12
commit 04c765f497
4 changed files with 290 additions and 0 deletions
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ROMFS/px4fmu_common/init.d/rc.interface
+24
View File
@@ -266,6 +266,18 @@ then
then
pwm failsafe -c ${PWM_AUX_OUT} -p ${FAILSAFE} -d ${OUTPUT_AUX_DEV}
fi
#
# Per channel failsafe settings.
#
pwm failsafe -c 1 -p p:PWM_AUX_FAIL1 -d ${OUTPUT_AUX_DEV}
pwm failsafe -c 2 -p p:PWM_AUX_FAIL2 -d ${OUTPUT_AUX_DEV}
pwm failsafe -c 3 -p p:PWM_AUX_FAIL3 -d ${OUTPUT_AUX_DEV}
pwm failsafe -c 4 -p p:PWM_AUX_FAIL4 -d ${OUTPUT_AUX_DEV}
pwm failsafe -c 5 -p p:PWM_AUX_FAIL5 -d ${OUTPUT_AUX_DEV}
pwm failsafe -c 6 -p p:PWM_AUX_FAIL6 -d ${OUTPUT_AUX_DEV}
pwm failsafe -c 7 -p p:PWM_AUX_FAIL7 -d ${OUTPUT_AUX_DEV}
pwm failsafe -c 8 -p p:PWM_AUX_FAIL8 -d ${OUTPUT_AUX_DEV}
fi
fi
@@ -310,6 +322,18 @@ then
then
pwm failsafe -c ${PWM_OUT} -p ${FAILSAFE} -d ${OUTPUT_DEV}
fi
#
# Per channel failsafe settings.
#
pwm failsafe -c 1 -p p:PWM_MAIN_FAIL1
pwm failsafe -c 2 -p p:PWM_MAIN_FAIL2
pwm failsafe -c 3 -p p:PWM_MAIN_FAIL3
pwm failsafe -c 4 -p p:PWM_MAIN_FAIL4
pwm failsafe -c 5 -p p:PWM_MAIN_FAIL5
pwm failsafe -c 6 -p p:PWM_MAIN_FAIL6
pwm failsafe -c 7 -p p:PWM_MAIN_FAIL7
pwm failsafe -c 8 -p p:PWM_MAIN_FAIL8
fi
unset MIXER_AUX_FILE
src/modules/sensors/pwm_params_aux.c
+130
View File
@@ -101,6 +101,136 @@ PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
*/
PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1500);
/******************************************************************************
* 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 *
src/modules/sensors/pwm_params_main.c
+132
View File
@@ -101,6 +101,138 @@ PARAM_DEFINE_INT32(PWM_MAX, 2000);
*/
PARAM_DEFINE_INT32(PWM_DISARMED, 900);
/******************************************************************************
* PWM_MAIN_FAIL *
******************************************************************************/
/**
* Set the failsafe PWM for the main 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_MAIN_FAIL1, -1);
/**
* Set the failsafe PWM for the main 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_MAIN_FAIL2, -1);
/**
* Set the failsafe PWM for the main 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_MAIN_FAIL3, -1);
/**
* Set the failsafe PWM for the main 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_MAIN_FAIL4, -1);
/**
* Set the failsafe PWM for the main 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_MAIN_FAIL5, -1);
/**
* Set the failsafe PWM for the main 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_MAIN_FAIL6, -1);
/**
* Set the failsafe PWM for the main 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_MAIN_FAIL7, -1);
/**
* Set the failsafe PWM for the main 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_MAIN_FAIL8, -1);
/******************************************************************************
* PWM_MAIN_DIS *
******************************************************************************/
src/systemcmds/pwm/pwm.cpp
+4
View File
@@ -597,6 +597,10 @@ pwm_main(int argc, char *argv[])
return 1;
}
if (pwm_value < 0) {
return 0;
}
if (pwm_value == 0) {
usage("failsafe: no PWM provided");
return 1;