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PWM: transition PWM_{MIN,MAX,DISARMED,RATE} -> PWM_MAIN

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This commit is contained in:
Daniel Agar
2021-01-31 19:29:21 -05:00
committed by Lorenz Meier
parent 8b8adbf48e
commit d1a3590aac
71 changed files with 170 additions and 162 deletions
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ROMFS/px4fmu_common/init.d/airframes/10018_tbs_endurance
+1 -1
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@@ -46,7 +46,7 @@ then
param set MPC_XY_VEL_MAX 2
param set PWM_MIN 1080
param set PWM_MAIN_MIN 1080
fi
set MIXER quad_w
ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+1 -1
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@@ -27,7 +27,7 @@
if [ $AUTOCNF = yes ]
then
param set PWM_AUX_DIS5 950
param set PWM_RATE 400
param set PWM_MAIN_RATE 400
param set VT_TYPE 2
param set VT_MOT_ID 1234
ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+1 -1
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@@ -42,7 +42,7 @@ then
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set PWM_RATE 400
param set PWM_MAIN_RATE 400
param set VT_FW_MOT_OFFID 34
param set VT_IDLE_PWM_MC 1080
ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
+2 -2
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@@ -16,8 +16,8 @@
if [ $AUTOCNF = yes ]
then
param set PWM_MAX 2000
param set PWM_RATE 400
param set PWM_MAIN_MAX 2000
param set PWM_MAIN_RATE 400
param set VT_MOT_ID 1234
param set VT_IDLE_PWM_MC 1080
ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
+2 -2
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@@ -25,8 +25,8 @@
if [ $AUTOCNF = yes ]
then
param set PWM_MAX 2000
param set PWM_RATE 400
param set PWM_MAIN_MAX 2000
param set PWM_MAIN_RATE 400
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+1 -1
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@@ -28,7 +28,7 @@ if [ $AUTOCNF = yes ]
then
param set PWM_AUX_DIS5 950
param set PWM_RATE 400
param set PWM_MAIN_RATE 400
param set MC_ROLL_P 6
param set MC_ROLLRATE_P 0.17
ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+1 -1
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@@ -47,7 +47,7 @@ then
param set MPC_YAWRAUTO_MAX 20
param set PWM_AUX_DIS3 950
param set PWM_RATE 400
param set PWM_MAIN_RATE 400
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 1234
ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
+1 -1
View File
@@ -36,7 +36,7 @@ then
param set MPC_YAWRAUTO_MAX 40
param set PWM_AUX_DIS5 950
param set PWM_RATE 400
param set PWM_MAIN_RATE 400
param set VT_F_TRANS_THR 0.75
param set VT_MOT_ID 1234
ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
+1 -1
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@@ -50,7 +50,7 @@ then
param set PWM_AUX_DIS5 950
param set PWM_AUX_REV1 1
param set PWM_AUX_REV2 1
param set PWM_RATE 400
param set PWM_MAIN_RATE 400
param set VT_ARSP_TRANS 15
param set VT_ARSP_BLEND 8
ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
+1 -1
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@@ -70,7 +70,7 @@ then
param set PWM_AUX_DIS5 950
param set PWM_RATE 400
param set PWM_MAIN_RATE 400
param set VT_ARSP_TRANS 15
param set VT_B_TRANS_DUR 4
ROMFS/px4fmu_common/init.d/airframes/13010_claire
+2 -2
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@@ -21,8 +21,8 @@ then
param set PWM_AUX_MIN 1000
param set PWM_AUX_RATE 50
param set PWM_MAX 2000
param set PWM_RATE 400
param set PWM_MAIN_MAX 2000
param set PWM_MAIN_RATE 400
param set VT_MOT_ID 1234
param set VT_FW_MOT_OFFID 13
ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+1 -1
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@@ -61,7 +61,7 @@ then
param set MPC_TKO_SPEED 2.5
param set MPC_Z_VEL_MAX_UP 3
param set PWM_RATE 400
param set PWM_MAIN_RATE 400
param set SENS_BOARD_ROT 8
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+1 -1
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@@ -122,7 +122,7 @@ then
param set PWM_MAIN_DIS7 900
param set PWM_MAIN_DIS8 900
param set PWM_RATE 400
param set PWM_MAIN_RATE 400
param set SENS_BOARD_ROT 18
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+1 -1
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@@ -90,7 +90,7 @@ then
param set PWM_MAIN_DIS3 1000
param set PWM_MAIN_MIN3 1120
param set PWM_MIN 950
param set PWM_MAIN_MIN 950
param set SENS_BOARD_ROT 4
ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
+1 -1
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@@ -29,7 +29,7 @@
if [ $AUTOCNF = yes ]
then
param set PWM_AUX_DIS5 950
param set PWM_RATE 400
param set PWM_MAIN_RATE 400
param set VT_TYPE 2
param set VT_MOT_ID 12345678
ROMFS/px4fmu_common/init.d/airframes/15001_coax_heli
+4 -4
View File
@@ -41,10 +41,10 @@ then
param set NAV_ACC_RAD 2
param set PWM_AUX_RATE 50
param set PWM_DISARMED 900
param set PWM_MIN 1075
param set PWM_MAX 1950
param set PWM_RATE 400
param set PWM_MAIN_DISARM 900
param set PWM_MAIN_MIN 1075
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_RATE 400
param set RTL_RETURN_ALT 30
param set RTL_DESCEND_ALT 10
ROMFS/px4fmu_common/init.d/airframes/16001_helicopter
+1 -1
View File
@@ -56,5 +56,5 @@ then
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set PWM_MIN 1075
param set PWM_MAIN_MIN 1075
fi
ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
+1 -1
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@@ -32,7 +32,7 @@ then
param set BAT_N_CELLS 3
param set PWM_AUX_RATE 50
param set PWM_RATE 50
param set PWM_MAIN_RATE 50
param set SENS_BOARD_ROT 8
ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
+1 -1
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@@ -27,7 +27,7 @@ then
param set BAT_N_CELLS 3
param set PWM_AUX_RATE 50
param set PWM_RATE 50
param set PWM_MAIN_RATE 50
param set SENS_BOARD_ROT 4
ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
+1 -1
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@@ -27,7 +27,7 @@
if [ $AUTOCNF = yes ]
then
param set PWM_AUX_RATE 50
param set PWM_RATE 50
param set PWM_MAIN_RATE 50
fi
set MIXER AETRFG
ROMFS/px4fmu_common/init.d/airframes/2105_maja
+1 -1
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@@ -43,7 +43,7 @@ then
param set FW_W_RMAX 0
# set disarmed value for the ESC
param set PWM_DISARMED 1000
param set PWM_MAIN_DISARM 1000
fi
set MIXER AAERTWF
ROMFS/px4fmu_common/init.d/airframes/2106_albatross
+1 -1
View File
@@ -43,7 +43,7 @@ then
param set FW_W_RMAX 0
# set disarmed value for the ESC
param set PWM_DISARMED 1000
param set PWM_MAIN_DISARM 1000
fi
set MIXER AAVVTWFF
ROMFS/px4fmu_common/init.d/airframes/2200_mini_talon
+1 -1
View File
@@ -44,7 +44,7 @@ then
param set FW_W_RMAX 0
# set disarmed value for the ESC
param set PWM_DISARMED 1000
param set PWM_MAIN_DISARM 1000
fi
# The Mini Talon does not have a wheel and
ROMFS/px4fmu_common/init.d/airframes/24001_dodeca_cox
+3 -3
View File
@@ -37,9 +37,9 @@ then
param set PWM_AUX_MIN 1075
param set PWM_AUX_MAX 1950
param set PWM_MIN 1075
param set PWM_MAX 1950
param set PWM_RATE 400
param set PWM_MAIN_MIN 1075
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_RATE 400
param set RTL_DESCEND_ALT 10
param set RTL_RETURN_ALT 30
ROMFS/px4fmu_common/init.d/airframes/3030_io_camflyer
+1 -1
View File
@@ -44,7 +44,7 @@ then
param set FW_RR_IMAX 0.2
param set FW_RR_P 0.04
param set PWM_DISARMED 1000
param set PWM_MAIN_DISARM 1000
fi
set MIXER fw_generic_wing
ROMFS/px4fmu_common/init.d/airframes/3031_phantom
+1 -1
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@@ -45,7 +45,7 @@ then
param set FW_R_LIM 50
param set FW_R_RMAX 50
param set PWM_DISARMED 1000
param set PWM_MAIN_DISARM 1000
# Bottom of bay and nominal zero-pitch attitude differ
# the payload bay is pitched up about 7 degrees
ROMFS/px4fmu_common/init.d/airframes/3033_wingwing
+1 -1
View File
@@ -44,7 +44,7 @@ then
param set FW_RR_FF 0.6
param set FW_RR_P 0.04
param set PWM_DISARMED 1000
param set PWM_MAIN_DISARM 1000
fi
# Configure this as plane.
ROMFS/px4fmu_common/init.d/airframes/3036_pigeon
+1 -1
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@@ -45,7 +45,7 @@ then
param set FW_R_RMAX 50
param set FW_R_TC 0.3
param set PWM_DISARMED 1000
param set PWM_MAIN_DISARM 1000
# Bottom of bay and nominal zero-pitch attitude differ
# the payload bay is pitched up about 7 degrees
ROMFS/px4fmu_common/init.d/airframes/3037_parrot_disco_mod
+1 -1
View File
@@ -85,7 +85,7 @@ then
# Roll Integrator Anti-Windup
param set FW_RR_IMAX 0.2
param set PWM_DISARMED 1000
param set PWM_MAIN_DISARM 1000
fi
set MIXER fw_generic_wing.main.mix
ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
+2 -2
View File
@@ -61,8 +61,8 @@ then
param set PWM_MAIN_REV1 1
param set PWM_MAIN_REV2 1
param set PWM_MIN 900
param set PWM_MAX 2100
param set PWM_MAIN_MIN 900
param set PWM_MAIN_MAX 2100
fi
set MIXER caipi
ROMFS/px4fmu_common/init.d/airframes/4003_qavr5
+1 -1
View File
@@ -34,5 +34,5 @@ then
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set PWM_MIN 1075
param set PWM_MAIN_MIN 1075
fi
ROMFS/px4fmu_common/init.d/airframes/4009_qav250
+1 -1
View File
@@ -37,5 +37,5 @@ then
param set MC_YAWRATE_D 0
param set MPC_THR_MIN 0.06
param set PWM_MIN 1075
param set PWM_MAIN_MIN 1075
fi
ROMFS/px4fmu_common/init.d/airframes/4010_dji_f330
+1 -1
View File
@@ -29,5 +29,5 @@ then
param set MC_YAWRATE_D 0
# DJI ESCs do not support calibration and need a higher min
param set PWM_MIN 1230
param set PWM_MAIN_MIN 1230
fi
ROMFS/px4fmu_common/init.d/airframes/4011_dji_f450
+1 -1
View File
@@ -29,5 +29,5 @@ then
param set MC_YAWRATE_D 0
# DJI ESCs do not support calibration and need a higher min
param set PWM_MIN 1230
param set PWM_MAIN_MIN 1230
fi
ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+3 -3
View File
@@ -104,11 +104,11 @@ then
param set NAV_ACC_RAD 2
# PWM and RC Parameters
param set PWM_MAX 1950
param set PWM_MIN 1075
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_MIN 1075
# use oneshot motor output protocol
param set PWM_RATE 0
param set PWM_MAIN_RATE 0
# RTL Parameters
param set RTL_DESCEND_ALT 5
ROMFS/px4fmu_common/init.d/airframes/4020_hk_micro_pcb
+1 -1
View File
@@ -37,5 +37,5 @@ then
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set PWM_MIN 1200
param set PWM_MAIN_MIN 1200
fi
ROMFS/px4fmu_common/init.d/airframes/4040_reaper
+3 -3
View File
@@ -37,9 +37,9 @@ then
param set PWM_AUX_DISARMED 950
param set PWM_AUX_RATE 50
param set PWM_MIN 1100
param set PWM_MAX 1900
param set PWM_RATE 50
param set PWM_MAIN_MIN 1100
param set PWM_MAIN_MAX 1900
param set PWM_MAIN_RATE 50
param set RTL_RETURN_ALT 30
param set RTL_DESCEND_ALT 10
ROMFS/px4fmu_common/init.d/airframes/4050_generic_250
+2 -2
View File
@@ -41,9 +41,9 @@ then
# use thrust curve factor (instead of TPA)
param set THR_MDL_FAC 0.3
param set PWM_MIN 1075
param set PWM_MAIN_MIN 1075
# enable one-shot
param set PWM_RATE 0
param set PWM_MAIN_RATE 0
# enable high-rate logging profile (helps with tuning)
param set SDLOG_PROFILE 19
ROMFS/px4fmu_common/init.d/airframes/4051_s250aq
+1 -1
View File
@@ -55,5 +55,5 @@ then
param set MPC_THR_MIN 0.06
param set MPC_MANTHR_MIN 0.06
param set PWM_MIN 1075
param set PWM_MAIN_MIN 1075
fi
ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250
+3 -3
View File
@@ -50,10 +50,10 @@ then
param set MPC_THR_MIN 0.05
param set MPC_Z_VEL_I_ACC 1.7
param set PWM_MAX 1950
param set PWM_MIN 1050
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_MIN 1050
param set PWM_RATE 0
param set PWM_MAIN_RATE 0
param set THR_MDL_FAC 0.3
fi
ROMFS/px4fmu_common/init.d/airframes/4060_dji_matrice_100
+1 -1
View File
@@ -33,5 +33,5 @@ then
param set MC_YAWRATE_I 0
param set MC_YAWRATE_D 0
param set PWM_MIN 1200
param set PWM_MAIN_MIN 1200
fi
ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+3 -3
View File
@@ -65,9 +65,9 @@ then
#param set THR_MDL_FAC 0.25
# System
param set PWM_MAX 1950
param set PWM_MIN 1100
param set PWM_RATE 0
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_MIN 1100
param set PWM_MAIN_RATE 0
#param set SYS_FMU_TASK 1
param set SENS_BOARD_ROT 10
ROMFS/px4fmu_common/init.d/airframes/4072_draco
+3 -3
View File
@@ -67,11 +67,11 @@ then
param set THR_MDL_FAC 0.3
# System
param set PWM_MAX 1950
param set PWM_MIN 1180
param set PWM_MAIN_MAX 1950
param set PWM_MAIN_MIN 1180
# enable one-shot
param set PWM_RATE 0
param set PWM_MAIN_RATE 0
param set SENS_BOARD_ROT 2
ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+3 -3
View File
@@ -61,9 +61,9 @@ then
#param set THR_MDL_FAC 0.25
# Obsolete
#param set PWM_MAX 1950
#param set PWM_MIN 1100
#param set PWM_RATE 0
#param set PWM_MAIN_MAX 1950
#param set PWM_MAIN_MIN 1100
#param set PWM_MAIN_RATE 0
# Sensors
param set SENS_BOARD_ROT 10
ROMFS/px4fmu_common/init.d/airframes/4080_zmr250
+3 -3
View File
@@ -42,7 +42,7 @@ then
# param set NAV_RCL_ACT 6 # Lockdown
param set PWM_MIN 1075
param set PWM_RATE 400
param set PWM_DISARMED 900
param set PWM_MAIN_MIN 1075
param set PWM_MAIN_RATE 400
param set PWM_MAIN_DISARM 900
fi
ROMFS/px4fmu_common/init.d/airframes/4090_nanomind
+3 -3
View File
@@ -38,7 +38,7 @@ then
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0
param set PWM_DISARMED 0
param set PWM_MIN 500
param set PWM_MAX 2200
param set PWM_MAIN_DISARM 0
param set PWM_MAIN_MIN 500
param set PWM_MAIN_MAX 2200
fi
ROMFS/px4fmu_common/init.d/airframes/4250_teal
+4 -4
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@@ -171,11 +171,11 @@ then
param set NAV_RCL_ACT 1
# pwm control
param set PWM_DISARMED 900
param set PWM_MAX 1850
param set PWM_MIN 1075
param set PWM_MAIN_DISARM 900
param set PWM_MAIN_MAX 1850
param set PWM_MAIN_MIN 1075
# Oneshot125
param set PWM_RATE 0
param set PWM_MAIN_RATE 0
# rtl
param set RTL_DESCEND_ALT 5
ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
+7 -7
View File
@@ -60,12 +60,12 @@ then
param set NAV_RCL_ACT 3
param set PWM_DISARMED 0
param set PWM_MIN 0
param set PWM_MAX 255
param set PWM_MAIN_DISARM 0
param set PWM_MAIN_MIN 0
param set PWM_MAIN_MAX 255
# Run the motors at 328.125 kHz (recommended)
param set PWM_RATE 3921
param set PWM_MAIN_RATE 3921
param set SDLOG_PROFILE 1
@@ -73,9 +73,9 @@ then
fi
set PWM_DISARMED none
set PWM_MAX none
set PWM_MIN none
set PWM_MAIN_DISARM none
set PWM_MAIN_MAX none
set PWM_MAIN_MIN none
syslink start
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
+7 -7
View File
@@ -59,12 +59,12 @@ then
param set NAV_RCL_ACT 3
param set PWM_DISARMED 0
param set PWM_MIN 0
param set PWM_MAX 255
param set PWM_MAIN_DISARM 0
param set PWM_MAIN_MIN 0
param set PWM_MAIN_MAX 255
# Run the motors at 328.125 kHz (recommended)
param set PWM_RATE 3921
param set PWM_MAIN_RATE 3921
param set SDLOG_PROFILE 1
@@ -73,9 +73,9 @@ then
fi
set PWM_DISARMED none
set PWM_MAX none
set PWM_MIN none
set PWM_MAIN_DISARM none
set PWM_MAIN_MAX none
set PWM_MAIN_MIN none
syslink start
mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
+3 -3
View File
@@ -50,9 +50,9 @@ then
param set NAV_ACC_RAD 0.5
# Provide ESC a constant 1500 us pulse
param set PWM_DISARMED 1500
param set PWM_MAX 2000
param set PWM_MIN 1000
param set PWM_MAIN_DISARM 1500
param set PWM_MAIN_MAX 2000
param set PWM_MAIN_MIN 1000
fi
# Configure this as rover

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