pwm_main_params.yaml
4.64 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
__max_num_config_instances: &max_num_config_instances 14
module_name: pwm_out
parameters:
- group: PWM Outputs
definitions:
PWM_MAIN_RATE:
description:
short: PWM main output frequency
long: |
Set to 400 for industry default or 1000 for high frequency ESCs.
Set to 0 for Oneshot125.
type: int32
unit: Hz
min: -1
max: 2000
default: 400
PWM_MAIN_MIN:
description:
short: PWM main minimum value
long: |
Set to 1000 for industry default or 900 to increase servo travel.
type: int32
unit: us
min: 800
max: 1400
default: 1000
PWM_MAIN_MAX:
description:
short: PWM main maximum value
long: |
Set to 2000 for industry default or 2100 to increase servo travel.
type: int32
unit: us
min: 1600
max: 2200
default: 2000
PWM_MAIN_DISARM:
description:
short: PWM main disarmed value
long: |
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.
type: int32
unit: us
min: 0
max: 2200
default: 900
PWM_MAIN_MIN${i}:
description:
short: PWM main ${i} minimum value
long: |
This is the minimum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_MAIN_MIN will be used
type: int32
unit: us
min: -1
max: 1600
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_MAIN_MAX${i}:
description:
short: PWM main ${i} maximum value
long: |
This is the maximum PWM pulse the autopilot is allowed to output.
When set to -1 the value for PWM_MAIN_MAX will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_MAIN_FAIL${i}:
description:
short: PWM main ${i} failsafe value
long: |
This is the PWM pulse the autopilot is outputting if in failsafe mode.
When set to -1 the value is set automatically depending if the actuator
is a motor (900us) or a servo (1500us)
type: int32
unit: us
min: 0
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: 0
PWM_MAIN_DIS${i}:
description:
short: PWM main ${i} disarmed value
long: |
This is the PWM pulse the autopilot is outputting if not armed.
When set to -1 the value for PWM_MAIN_DISARM will be used
type: int32
unit: us
min: -1
max: 2150
num_instances: *max_num_config_instances
instance_start: 1
default: -1
PWM_MAIN_TRIM${i}:
description:
short: PWM main ${i} trim value
long: |
Set to normalized offset
type: float
min: -0.2
max: 0.2
decimal: 2
num_instances: *max_num_config_instances
instance_start: 1
default: 0
PWM_MAIN_REV${i}:
description:
short: PWM main ${i} reverse value
long: |
Enable to invert the channel.
Warning: Use this parameter when connected to a servo only.
For a brushless motor, invert manually two phases to reverse the direction.
type: boolean
num_instances: *max_num_config_instances
instance_start: 1
default: 0
PWM_MAIN_RATE${i}:
description:
short: PWM main ${i} rate
long: |
Set the default PWM output frequency for the main outputs
type: int32
unit: Hz
min: 0
max: 400
instance_start: 1
default: 50