Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-08 18:52:46 +08:00
Code Issues Actions 28 Packages Projects Releases Wiki Activity

parameters for esc duty cycles

Browse Source
This commit is contained in:
Benoit Landry
2016-04-04 11:47:29 -07:00
committed by Lorenz Meier
parent 6801a5a0d1
commit 10b9fde169
1 changed files with 19 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/uart_esc/uart_esc.cpp
+19 -4
View File
@@ -89,6 +89,10 @@ input_rc_s _rc;
pwm_limit_t _pwm_limit;
// esc parameters
uint16_t _pwm_disarmed;
uint16_t _pwm_min;
uint16_t _pwm_max;
MultirotorMixer *_mixer = nullptr;
@@ -414,10 +418,16 @@ void task_main(int argc, char *argv[])
}
const uint16_t reverse_mask = 0;
// TODO FIXME: these should probably be params
const uint16_t disarmed_pwm[4] = {900, 900, 900, 900};
const uint16_t min_pwm[4] = {1230, 1230, 1230, 1230};
const uint16_t max_pwm[4] = {1900, 1900, 1900, 1900};
uint16_t disarmed_pwm[4];
uint16_t min_pwm[4];
uint16_t max_pwm[4];
for (unsigned int i = 0; i < 4; i++) {
disarmed_pwm[i] = _pwm_disarmed;
min_pwm[i] = _pwm_min;
max_pwm[i] = _pwm_max;
}
uint16_t pwm[4];
// TODO FIXME: pre-armed seems broken
@@ -523,6 +533,11 @@ int uart_esc_main(int argc, char *argv[])
}
}
// gets the parameters for the esc's pwm
param_get(param_find("PWM_DISARMED"), &uart_esc::_pwm_disarmed);
param_get(param_find("PWM_MIN"), &uart_esc::_pwm_min);
param_get(param_find("PWM_MAX"), &uart_esc::_pwm_max);
/*
* Start/load the driver.
*/