Mirrors_Framework/PX4-Autopilot
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32 Commits

Author SHA1 Message Date
Nick
575fa0850b PWM: Add servo center setting & asymetric deflection (#25897) 
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>
 2025-11-26 18:12:25 +01:00
Beat Küng
845d65fe9b fix output_groups_from_timer_config.py: avoid invalid escape sequence 
Python warning:
Tools/module_config/output_groups_from_timer_config.py:38:
SyntaxWarning: invalid escape sequence '\)'
 2025-04-04 09:12:53 +02:00
Peter van der Perk
b0cb697f71 imxrt: dshot add 1060 support and use channels instead of timers 2024-05-30 04:56:42 -04:00
Peter van der Perk
500332e424 imxrt: flexpwm remove 1:1 mapping requirement 2024-04-27 07:57:32 -04:00
Peter van der Perk
e2c027405e px4_fmu-v6xrt: Add dshot support 2023-12-15 10:15:02 -05:00
SalimTerryLi
9c467198be module_config: support custom actuators_metadata backed by module-level params 2023-05-02 10:09:52 +02:00
David Sidrane
7f7137320a fix imxrt: use 1:1 timer group to channel association 2022-10-13 08:17:51 +02:00
Beat Küng
02035d94aa metadata: sort json output 
ensures the files don't change arbitrarily
 2022-10-05 07:44:55 +02:00
Daniel Agar
15fece7e14 delete SYS_CTRL_ALLOC 2022-09-09 09:14:09 -04:00
Hamish Willee
30e2490d5b Docs are now in user guide and main (#19977) 
* Fix links to docs in source to point to docs on main not master

* More docs and scripts that need to point to main
 2022-08-01 11:39:39 +10:00
Beat Küng
b2dc9ee710 control_allocator: add title & help url to geometry UI 2022-02-25 08:30:58 +01:00
Beat Küng
9ca58f5e97 actuator outputs: always add reverse range param 
and remove the possibility to set min > max to reverse.

Initially the idea was to add the checkbox on the UI side, to avoid adding
another param, but I don't think I'll go through the extra effort on the
QGC side.
 2022-01-14 12:18:29 -05:00
Beat Küng
d1abdd0f8d output drivers: add option to generate a separate output range reversing param 
Makes it a bit easier to configure. Reversing by setting MIN > MAX is still
supported.
 2021-12-24 20:06:13 -05:00
Beat Küng
ccc1f0e8fa generate_actuators_metadata: minor additions (index_offset, item_label_prefix) 2021-12-24 20:06:13 -05:00
Beat Küng
81cef522fd generate_params.py: fix bitmask param type 2021-12-24 20:06:13 -05:00
Beat Küng
5bcc5d3a13 generate_actuators_metadata.py: add mixer rules support 2021-12-24 20:06:13 -05:00
Beat Küng
357a16aca6 pwm_out_sim: split module.yaml into HIL+SIM files 2021-11-23 12:40:22 -05:00
Beat Küng
36296794c8 module config: add generate_actuators_metadata.py script 2021-11-23 12:40:22 -05:00
Beat Küng
36d9635518 output_functions.yaml: allow single-instance entry with 'start' but no 'count' 
for other additional data
 2021-11-23 12:40:22 -05:00
Beat Küng
2ff6baa250 actuator params: use module_name as prefix to channel label 2021-11-23 12:40:22 -05:00
Beat Küng
6537f480b1 module.yaml: make long param description optional 
Some params are very simple and don't need more.
 2021-11-23 12:40:22 -05:00
Beat Küng
7faaad79d0 generate_params.py: add PWM_AUX_* for boards w/o IO and >8 channels 2021-11-22 09:07:23 -05:00
mcsauder
21163d859e Whitespace cleanup. 2021-10-19 13:29:26 -04:00
Beat Küng
f1686b1abf px4io: add dynamic mixing support 2021-10-18 18:45:19 -04:00
Beat Küng
ab1d76ae7d params: use PWM_MAIN_* instead of PWM_FMU_* 2021-10-18 18:45:19 -04:00
Beat Küng
319e90961b output_groups_from_timer_config.py: fix timer index 
The implementation assumed timers are defined in the same order as used
in the channels. This could lead to a mismatch between TIMx param and
actual timer config.
Now we use the actual array index, same as in the code.
 2021-10-18 18:45:19 -04:00
Beat Küng
44bbe87165 pwm_out_sim: use PWM_FMU for sitl and HIL_ACT for hitl 
We might want to change this later, but for now it allows to use the same
airframe configs for sitl/real, and independent hitl configuration.
 2021-10-18 18:45:19 -04:00
Beat Küng
916447e804 params: add script to parse timer_config.cpp for timer group info 
This allows to generate pwm params in the form of:
module_name: PWM Output
actuator_output:
  output_groups:
    - generator: pwm
      param_prefix: PWM_FMU
      channel_labels: ['PWM Main', 'PWM Capture']
      standard_params:
        disarmed: { min: 800, max: 2200, default: 900 }
        min: { min: 800, max: 1400, default: 1000 }
        max: { min: 1600, max: 2200, default: 2000 }
        failsafe: { min: 800, max: 2200 }
      extra_function_groups: [ pwm_fmu ]
      pwm_timer_param:
        description:
            short: Output Protocol Configuration for ${label}
            long: |
                Select which Output Protocol to use for outputs ${label}.

                Custom PWM rates can be used by directly setting any value >0.
        type: enum
        default: 400
        values:
            -5: DShot150
            -4: DShot300
            -3: DShot600
            -2: DShot1200
            -1: OneShot
            50: PWM50
            100: PWM100
            200: PWM200
            400: PWM400
        reboot_required: true
 2021-10-18 18:45:19 -04:00
Beat Küng
db28ea9cfa generate_params.py: extend params 'definitions' section to support a list 
allows to add multiple entries for a multi-instance param with different
instance_start
 2021-10-18 18:45:19 -04:00
Beat Küng
6f01b69f49 mixer_module: add param generation for disarmed, min, max, failsafe 2021-10-18 18:45:19 -04:00
Beat Küng
6424faccb1 generate_params.py: fix parse_yaml_parameters_config 
Correctly handle multiple parameter sections
 2021-10-18 18:45:19 -04:00
Beat Küng
c55626d2d6 refactor Tools/serial: move non-serial param generation into separate script 2021-10-18 18:45:19 -04:00