Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-26 01:17:51 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

PWM: Add servo center setting & asymetric deflection (#25897)

Browse Source 
Add PWM_*_CENTERx for each servo.
Use a bilinear transform to map actuator_servos to PWM signals.

This solution only works for PWM based servos. Other types of servos are not affected.

* PWM: Add servo trim option

* PWM: Improve documentation of PWM trim feature

* PWM: cleaner clamping and docs typo

* update documentation & safety

* add migration formula

* rename param from trim to center

* docs with center instead of trim

* move clamping and reorder values

* improve documentation

* adress failing range check

* improve documentation

* CA: add event for setting CENTER with TRIM

Signed-off-by: Silvan <silvan@auterion.com>

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
This commit is contained in:
Nick
2025-11-26 18:12:25 +01:00
committed by GitHub
parent 6caf4f0942
commit 575fa0850b
13 changed files with 187 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Tools/module_config/generate_actuators_metadata.py
+1
View File
@@ -238,6 +238,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
( 'disarmed', 'Disarmed', 'DIS', False ),
( 'min', 'Minimum', 'MIN', False ),
( 'max', 'Maximum', 'MAX', False ),
( 'center', 'Center\n(for Servos)', 'CENT', False ),
( 'failsafe', 'Failsafe', 'FAIL', True ),
]
for key, label, param_suffix, advanced in standard_params_array:
Tools/module_config/generate_params.py
+8
View File
@@ -284,6 +284,9 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
'''
minimum_description = \
'''Minimum output value (when not disarmed).
'''
center_description = \
'''Servo Center output value (when not disarmed).
'''
maximum_description = \
'''Maxmimum output value (when not disarmed).
@@ -296,6 +299,7 @@ When set to -1 (default), the value depends on the function (see {:}).
standard_params_array = [
( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
( 'min', 'Minimum', 'MIN', minimum_description ),
( 'center', 'Center', 'CENT', center_description ),
( 'max', 'Maximum', 'MAX', maximum_description ),
( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
]
@@ -312,6 +316,10 @@ When set to -1 (default), the value depends on the function (see {:}).
standard_params[key]['default'] = -1
standard_params[key]['min'] = -1
if key == 'center':
standard_params[key]['default'] = -1
standard_params[key]['min'] = -1
param = {
'description': {
'short': channel_label+' ${i} '+label+' Value',