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https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Christophe De Wagter
e6bcd60666
* actuators[ ] array in pprz units, conversion to actuator_driver units when sending to the actuator_driver. actuators becomes an array * Moved scaling of the Servo to the Set function. * Fixed switches and pan-tilt to work in PPRZ units now. Simplified code.
42 lines
1.5 KiB
XML
42 lines
1.5 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="switch_servo" dir="switching">
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<doc>
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<description>Swicht using a Servo</description>
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<define name="SWITCH_SERVO_ON_VALUE" value="pprz_cmd" description="servo value in pprz units"/>
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<define name="SWITCH_SERVO_OFF_VALUE" value="pprz_cmd" description="servo value in pprz units"/>
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<define name="SWITCH_SERVO_SERVO" value="nb" description="Id of the servo (default: SWITCH)"/>
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</doc>
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<settings>
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<dl_settings NAME="Switch Servo">
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<dl_settings NAME="SWITCH">
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<dl_setting var="switch_servo_on" min="0" step="1" max="1" module="switching/switch_servo" values="Off|On">
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<strip_button name="ON" value="1" group="switching"/>
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<strip_button name="OFF" value="0" group="switching"/>
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</dl_setting>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="switch_servo.h"/>
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</header>
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<init fun="switch_servo_init()"/>
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<periodic fun="switch_servo_periodic()" freq="10."/>
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<makefile target="ap|sim|nps">
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<!-- these parameters should be set for that module in the airframe file unless you want the defaults
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Servo value in usec
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<load name="switch_servo.xml">
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<define name="SWITCH_SERVO_ON_VALUE" value="MAX_PPRZ"/>
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<define name="SWITCH_SERVO_OFF_VALUE" value="MIN_PPRZ"/>
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<define name="SWITCH_SERVO_SERVO" value="SWITCH"/>
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</load>
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The servo will not exceed the min and max positions defined in the servo section
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-->
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<file name="switch_servo.c"/>
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</makefile>
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</module>
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