diff --git a/src/modules/sensors/pwm_params.c b/src/modules/sensors/pwm_params.c new file mode 100644 index 0000000000..3c2c43d0cf --- /dev/null +++ b/src/modules/sensors/pwm_params.c @@ -0,0 +1,378 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 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. + * 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. + * + * 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. + * + ****************************************************************************/ + +/** + * @file pwm_params.c + * + * Parameters defined for PWM output. + * + */ + +/** + * 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 + * @group PWM Outputs + */ +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 + * + * Parameter used to model the relationship between static thrust and motor + * input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2 + * + * @min 0.0 + * @max 1.0 + * @group PWM Outputs + */ +PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f); + +/** + * Minimum motor rise time (slew rate limit). + * + * Minimum time allowed for the motor input signal to pass through + * a range of 1000 PWM units. A value x means that the motor signal + * can only go from 1000 to 2000 PWM in maximum x seconds. + * + * Zero means that slew rate limiting is disabled. + * + * @min 0.0 + * @unit s/(1000*PWM) + * @group PWM Outputs + */ +PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f); diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 9d2a8532f9..c35bff157d 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -1121,318 +1121,6 @@ PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0); */ PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1); -/** - * 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 - * @group PWM Outputs - */ -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 *