mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-06 16:49:51 +08:00
sensors move PWM params to pwm_params.c
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
110d2968d8
commit
95631439f1
@@ -0,0 +1,378 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
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||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
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||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file pwm_params.c
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*
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* Parameters defined for PWM output.
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*
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*/
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/**
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* Set the PWM output frequency for the main outputs
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*
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* Set to 400 for industry default or 1000 for high frequency ESCs.
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*
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* Set to 0 for Oneshot125.
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2000
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* @unit Hz
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_RATE, 400);
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/**
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* Set the minimum PWM for the main outputs
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*
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* Set to 1000 for industry default or 900 to increase servo travel.
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*
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* @reboot_required true
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*
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* @min 800
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* @max 1400
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MIN, 1000);
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/**
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* Set the maximum PWM for the main outputs
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*
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* Set to 2000 for industry default or 2100 to increase servo travel.
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*
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* @reboot_required true
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*
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* @min 1600
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAX, 2000);
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/**
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* Set the disarmed PWM for the main outputs
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*
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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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*
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* @reboot_required true
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*
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* @min 0
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_DISARMED, 900);
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/**
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* Set the disarmed PWM for the main 1 output
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*
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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_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS1, -1);
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/**
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* Set the disarmed PWM for the main 2 output
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*
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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_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS2, -1);
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/**
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* Set the disarmed PWM for the main 3 output
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*
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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_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS3, -1);
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/**
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* Set the disarmed PWM for the main 4 output
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*
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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_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS4, -1);
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/**
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* Set the disarmed PWM for the main 5 output
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*
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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_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS5, -1);
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/**
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* Set the disarmed PWM for the main 6 output
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*
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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_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS6, -1);
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/**
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* Set the disarmed PWM for the main 7 output
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*
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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_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS7, -1);
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/**
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* Set the disarmed PWM for the main 8 output
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*
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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_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_MAIN_DIS8, -1);
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/**
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* Set the disarmed PWM for the AUX 1 output
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*
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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_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_DIS1, -1);
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/**
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* Set the disarmed PWM for the AUX 2 output
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*
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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_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_DIS2, -1);
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/**
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* Set the disarmed PWM for the AUX 3 output
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*
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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_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_DIS3, -1);
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/**
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* Set the disarmed PWM for the AUX 4 output
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*
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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_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_DIS4, -1);
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/**
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* Set the disarmed PWM for the AUX 5 output
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*
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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_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_DIS5, -1);
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/**
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* Set the disarmed PWM for the AUX 6 output
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*
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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_DISARMED will be used
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*
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* @reboot_required true
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*
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* @min -1
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_DIS6, -1);
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/**
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* Set the minimum PWM for the auxiliary outputs
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*
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* Set to 1000 for default or 900 to increase servo travel
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*
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* @reboot_required true
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*
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* @min 800
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* @max 1400
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_MIN, 1000);
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/**
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* Set the maximum PWM for the auxiliary outputs
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*
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* Set to 2000 for default or 2100 to increase servo travel
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*
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* @reboot_required true
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*
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* @min 1600
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
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/**
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* Set the disarmed PWM for auxiliary outputs
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*
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||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* The main use of this parameter is to silence ESCs when they are disarmed.
|
||||
*
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* @reboot_required true
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*
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* @min 0
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* @max 2200
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* @unit us
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* @group PWM Outputs
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*/
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PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1500);
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/**
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* Thrust to PWM model parameter
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*
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* Parameter used to model the relationship between static thrust and motor
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* input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2
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*
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* @min 0.0
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* @max 1.0
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* @group PWM Outputs
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*/
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PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);
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/**
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* Minimum motor rise time (slew rate limit).
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*
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* Minimum time allowed for the motor input signal to pass through
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* a range of 1000 PWM units. A value x means that the motor signal
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* can only go from 1000 to 2000 PWM in maximum x seconds.
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*
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* Zero means that slew rate limiting is disabled.
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*
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* @min 0.0
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* @unit s/(1000*PWM)
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* @group PWM Outputs
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*/
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PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);
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@@ -1121,318 +1121,6 @@ PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);
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*/
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PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
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/**
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* Set the PWM output frequency for the main outputs
|
||||
*
|
||||
* Set to 400 for industry default or 1000 for high frequency ESCs.
|
||||
*
|
||||
* Set to 0 for Oneshot125.
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2000
|
||||
* @unit Hz
|
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* @group PWM Outputs
|
||||
*/
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PARAM_DEFINE_INT32(PWM_RATE, 400);
|
||||
|
||||
/**
|
||||
* Set the minimum PWM for the main outputs
|
||||
*
|
||||
* Set to 1000 for industry default or 900 to increase servo travel.
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min 800
|
||||
* @max 1400
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_MIN, 1000);
|
||||
|
||||
/**
|
||||
* Set the maximum PWM for the main outputs
|
||||
*
|
||||
* Set to 2000 for industry default or 2100 to increase servo travel.
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min 1600
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_MAX, 2000);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the main outputs
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* The main use of this parameter is to silence ESCs when they are disarmed.
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min 0
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_DISARMED, 900);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the main 1 output
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* When set to -1 the value for PWM_DISARMED will be used
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_MAIN_DIS1, -1);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the main 2 output
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* When set to -1 the value for PWM_DISARMED will be used
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_MAIN_DIS2, -1);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the main 3 output
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* When set to -1 the value for PWM_DISARMED will be used
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_MAIN_DIS3, -1);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the main 4 output
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* When set to -1 the value for PWM_DISARMED will be used
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_MAIN_DIS4, -1);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the main 5 output
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* When set to -1 the value for PWM_DISARMED will be used
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_MAIN_DIS5, -1);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the main 6 output
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* When set to -1 the value for PWM_DISARMED will be used
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_MAIN_DIS6, -1);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the main 7 output
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* When set to -1 the value for PWM_DISARMED will be used
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_MAIN_DIS7, -1);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the main 8 output
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* When set to -1 the value for PWM_DISARMED will be used
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_MAIN_DIS8, -1);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the AUX 1 output
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* When set to -1 the value for PWM_AUX_DISARMED will be used
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_AUX_DIS1, -1);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the AUX 2 output
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* When set to -1 the value for PWM_AUX_DISARMED will be used
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_AUX_DIS2, -1);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the AUX 3 output
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* When set to -1 the value for PWM_AUX_DISARMED will be used
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_AUX_DIS3, -1);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the AUX 4 output
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* When set to -1 the value for PWM_AUX_DISARMED will be used
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_AUX_DIS4, -1);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the AUX 5 output
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* When set to -1 the value for PWM_AUX_DISARMED will be used
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_AUX_DIS5, -1);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for the AUX 6 output
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* When set to -1 the value for PWM_AUX_DISARMED will be used
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min -1
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_AUX_DIS6, -1);
|
||||
|
||||
/**
|
||||
* Set the minimum PWM for the auxiliary outputs
|
||||
*
|
||||
* Set to 1000 for default or 900 to increase servo travel
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min 800
|
||||
* @max 1400
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_AUX_MIN, 1000);
|
||||
|
||||
/**
|
||||
* Set the maximum PWM for the auxiliary outputs
|
||||
*
|
||||
* Set to 2000 for default or 2100 to increase servo travel
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min 1600
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
|
||||
|
||||
/**
|
||||
* Set the disarmed PWM for auxiliary outputs
|
||||
*
|
||||
* This is the PWM pulse the autopilot is outputting if not armed.
|
||||
* The main use of this parameter is to silence ESCs when they are disarmed.
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @min 0
|
||||
* @max 2200
|
||||
* @unit us
|
||||
* @group PWM Outputs
|
||||
*/
|
||||
PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1500);
|
||||
|
||||
/**
|
||||
* Thrust to PWM model parameter
|
||||
*
|
||||
|
||||
Reference in New Issue
Block a user