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PWM - Add PWM_MIN and PWM_MAX parameters for MAIN and AUX (#10452)

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This commit is contained in:
bresch
2018-09-17 00:07:29 +02:00
committed by Daniel Agar
parent bcad940a9f
commit 740e409016
4 changed files with 548 additions and 0 deletions
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ROMFS/px4fmu_common/init.d/rc.interface
+48
View File
@@ -262,6 +262,30 @@ then
pwm disarmed -c 7 -p p:PWM_AUX_DIS7 -d ${OUTPUT_AUX_DEV}
pwm disarmed -c 8 -p p:PWM_AUX_DIS8 -d ${OUTPUT_AUX_DEV}
#
# Per channel min settings.
#
pwm min -c 1 -p p:PWM_AUX_MIN1 -d ${OUTPUT_AUX_DEV}
pwm min -c 2 -p p:PWM_AUX_MIN2 -d ${OUTPUT_AUX_DEV}
pwm min -c 3 -p p:PWM_AUX_MIN3 -d ${OUTPUT_AUX_DEV}
pwm min -c 4 -p p:PWM_AUX_MIN4 -d ${OUTPUT_AUX_DEV}
pwm min -c 5 -p p:PWM_AUX_MIN5 -d ${OUTPUT_AUX_DEV}
pwm min -c 6 -p p:PWM_AUX_MIN6 -d ${OUTPUT_AUX_DEV}
pwm min -c 7 -p p:PWM_AUX_MIN7 -d ${OUTPUT_AUX_DEV}
pwm min -c 8 -p p:PWM_AUX_MIN8 -d ${OUTPUT_AUX_DEV}
#
# Per channel max settings.
#
pwm max -c 1 -p p:PWM_AUX_MAX1 -d ${OUTPUT_AUX_DEV}
pwm max -c 2 -p p:PWM_AUX_MAX2 -d ${OUTPUT_AUX_DEV}
pwm max -c 3 -p p:PWM_AUX_MAX3 -d ${OUTPUT_AUX_DEV}
pwm max -c 4 -p p:PWM_AUX_MAX4 -d ${OUTPUT_AUX_DEV}
pwm max -c 5 -p p:PWM_AUX_MAX5 -d ${OUTPUT_AUX_DEV}
pwm max -c 6 -p p:PWM_AUX_MAX6 -d ${OUTPUT_AUX_DEV}
pwm max -c 7 -p p:PWM_AUX_MAX7 -d ${OUTPUT_AUX_DEV}
pwm max -c 8 -p p:PWM_AUX_MAX8 -d ${OUTPUT_AUX_DEV}
if [ $FAILSAFE_AUX != none ]
then
pwm failsafe -c ${PWM_AUX_OUT} -p ${FAILSAFE} -d ${OUTPUT_AUX_DEV}
@@ -318,6 +342,30 @@ then
pwm disarmed -c 7 -p p:PWM_MAIN_DIS7
pwm disarmed -c 8 -p p:PWM_MAIN_DIS8
#
# Per channel min settings.
#
pwm min -c 1 -p p:PWM_MAIN_MIN1
pwm min -c 2 -p p:PWM_MAIN_MIN2
pwm min -c 3 -p p:PWM_MAIN_MIN3
pwm min -c 4 -p p:PWM_MAIN_MIN4
pwm min -c 5 -p p:PWM_MAIN_MIN5
pwm min -c 6 -p p:PWM_MAIN_MIN6
pwm min -c 7 -p p:PWM_MAIN_MIN7
pwm min -c 8 -p p:PWM_MAIN_MIN8
#
# Per channel max settings.
#
pwm max -c 1 -p p:PWM_MAIN_MAX1
pwm max -c 2 -p p:PWM_MAIN_MAX2
pwm max -c 3 -p p:PWM_MAIN_MAX3
pwm max -c 4 -p p:PWM_MAIN_MAX4
pwm max -c 5 -p p:PWM_MAIN_MAX5
pwm max -c 6 -p p:PWM_MAIN_MAX6
pwm max -c 7 -p p:PWM_MAIN_MAX7
pwm max -c 8 -p p:PWM_MAIN_MAX8
if [ $FAILSAFE != none ]
then
pwm failsafe -c ${PWM_OUT} -p ${FAILSAFE} -d ${OUTPUT_DEV}
src/modules/sensors/pwm_params_aux.c
+246
View File
@@ -101,6 +101,252 @@ PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
*/
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 *
******************************************************************************/
src/modules/sensors/pwm_params_main.c
+246
View File
@@ -101,6 +101,252 @@ PARAM_DEFINE_INT32(PWM_MAX, 2000);
*/
PARAM_DEFINE_INT32(PWM_DISARMED, 900);
/******************************************************************************
* PWM_MAIN_MIN *
******************************************************************************/
/**
* Set the min PWM value for the main 1 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN1, -1);
/**
* Set the min PWM value for the main 2 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN2, -1);
/**
* Set the min PWM value for the main 3 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN3, -1);
/**
* Set the min PWM value for the main 4 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN4, -1);
/**
* Set the min PWM value for the main 5 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN5, -1);
/**
* Set the min PWM value for the main 6 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN6, -1);
/**
* Set the min PWM value for the main 7 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN7, -1);
/**
* Set the min PWM value for the main 8 output
*
* This is the minimum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MIN will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MIN8, -1);
/******************************************************************************
* PWM_MAIN_MAX *
******************************************************************************/
/**
* Set the max PWM value for the main 1 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX1, -1);
/**
* Set the max PWM value for the main 2 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX2, -1);
/**
* Set the max PWM value for the main 3 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX3, -1);
/**
* Set the max PWM value for the main 4 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX4, -1);
/**
* Set the max PWM value for the main 5 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX5, -1);
/**
* Set the max PWM value for the main 6 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX6, -1);
/**
* Set the max PWM value for the main 7 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX7, -1);
/**
* Set the max PWM value for the main 8 output
*
* This is the maximum PWM pulse the autopilot is allowed to output.
* When set to -1 the value for PWM_MAX will be used
*
* @reboot_required true
*
* @min -1
* @max 2200
* @unit us
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_MAX8, -1);
/******************************************************************************
* PWM_MAIN_FAIL *
******************************************************************************/
src/systemcmds/pwm/pwm.cpp
+8
View File
@@ -439,6 +439,10 @@ pwm_main(int argc, char *argv[])
return 1;
}
if (pwm_value < 0) {
return 0;
}
if (pwm_value == 0) {
usage("min: no PWM value provided");
return 1;
@@ -491,6 +495,10 @@ pwm_main(int argc, char *argv[])
return 1;
}
if (pwm_value < 0) {
return 0;
}
if (pwm_value == 0) {
usage("no PWM value provided");
return 1;