From 220bd82b935f1e9459a528ca46b77b7c09ae07fa Mon Sep 17 00:00:00 2001
From: sanderux <sander@droneslab.com>
Date: Fri, 28 Jul 2017 15:30:53 +0200
Subject: [PATCH] Per channel PWM disarmed values
---
ROMFS/px4fmu_common/init.d/rc.interface | 22 +++
src/modules/sensors/sensor_params.c | 231 +++++++++++++++++++++---
src/systemcmds/pwm/pwm.cpp | 4 +
3 files changed, 236 insertions(+), 21 deletions(-)
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index ac94bfcb61..a4d7dfe618 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -102,6 +102,18 @@ then
fi
fi
+ #
+ # Per channel disarmed settings
+ #
+ pwm disarmed -c 1 -p p:PWM_MAIN_DIS1
+ pwm disarmed -c 2 -p p:PWM_MAIN_DIS2
+ pwm disarmed -c 3 -p p:PWM_MAIN_DIS3
+ pwm disarmed -c 4 -p p:PWM_MAIN_DIS4
+ pwm disarmed -c 5 -p p:PWM_MAIN_DIS5
+ pwm disarmed -c 6 -p p:PWM_MAIN_DIS6
+ pwm disarmed -c 7 -p p:PWM_MAIN_DIS7
+ pwm disarmed -c 8 -p p:PWM_MAIN_DIS8
+
if [ $FAILSAFE != none ]
then
pwm failsafe -d ${OUTPUT_DEV} ${FAILSAFE}
@@ -228,6 +240,16 @@ then
pwm disarmed -c ${PWM_ACHDIS} -p ${PWM_AUX_DISARMED} -d ${OUTPUT_AUX_DEV}
fi
+ #
+ # Per channel disarmed settings
+ #
+ pwm disarmed -c 1 -p p:PWM_AUX_DIS1 -d ${OUTPUT_AUX_DEV}
+ pwm disarmed -c 2 -p p:PWM_AUX_DIS2 -d ${OUTPUT_AUX_DEV}
+ pwm disarmed -c 3 -p p:PWM_AUX_DIS3 -d ${OUTPUT_AUX_DEV}
+ pwm disarmed -c 4 -p p:PWM_AUX_DIS4 -d ${OUTPUT_AUX_DEV}
+ pwm disarmed -c 5 -p p:PWM_AUX_DIS5 -d ${OUTPUT_AUX_DEV}
+ pwm disarmed -c 6 -p p:PWM_AUX_DIS6 -d ${OUTPUT_AUX_DEV}
+
if [ $FAILSAFE_AUX != none ]
then
pwm failsafe -d ${OUTPUT_AUX_DEV} ${FAILSAFE}
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index c1f2b4f475..0e22c8c573 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -3375,9 +3375,6 @@ PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
/**
* Set the PWM output frequency for the main outputs
*
- * IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
- * REBOOT IN ORDER TO APPLY THE CHANGES.
- *
* Set to 400 for industry default or 1000 for high frequency ESCs.
*
* Set to 0 for Oneshot125.
@@ -3394,9 +3391,6 @@ PARAM_DEFINE_INT32(PWM_RATE, 400);
/**
* Set the minimum PWM for the main outputs
*
- * IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
- * REBOOT IN ORDER TO APPLY THE CHANGES.
- *
* Set to 1000 for industry default or 900 to increase servo travel.
*
* @reboot_required true
@@ -3411,9 +3405,6 @@ PARAM_DEFINE_INT32(PWM_MIN, 1000);
/**
* Set the maximum PWM for the main outputs
*
- * IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
- * REBOOT IN ORDER TO APPLY THE CHANGES.
- *
* Set to 2000 for industry default or 2100 to increase servo travel.
*
* @reboot_required true
@@ -3428,9 +3419,6 @@ PARAM_DEFINE_INT32(PWM_MAX, 2000);
/**
* Set the disarmed PWM for the main outputs
*
- * IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
- * REBOOT IN ORDER TO APPLY THE CHANGES.
- *
* 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.
*
@@ -3444,10 +3432,217 @@ PARAM_DEFINE_INT32(PWM_MAX, 2000);
PARAM_DEFINE_INT32(PWM_DISARMED, 900);
/**
- * Set the minimum PWM for the auxiliary outputs
+ * 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
*
- * IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
- * REBOOT IN ORDER TO APPLY THE CHANGES.
+ * 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
*
@@ -3463,9 +3658,6 @@ PARAM_DEFINE_INT32(PWM_AUX_MIN, 1000);
/**
* Set the maximum PWM for the auxiliary outputs
*
- * IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
- * REBOOT IN ORDER TO APPLY THE CHANGES.
- *
* Set to 2000 for default or 2100 to increase servo travel
*
* @reboot_required true
@@ -3480,9 +3672,6 @@ PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
/**
* Set the disarmed PWM for auxiliary outputs
*
- * IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
- * REBOOT IN ORDER TO APPLY THE CHANGES.
- *
* 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.
*
diff --git a/src/systemcmds/pwm/pwm.cpp b/src/systemcmds/pwm/pwm.cpp
index 98705a603c..14d6fae1c9 100644
--- a/src/systemcmds/pwm/pwm.cpp
+++ b/src/systemcmds/pwm/pwm.cpp
@@ -543,6 +543,10 @@ pwm_main(int argc, char *argv[])
return 1;
}
+ if (pwm_value < 0) {
+ return 0;
+ }
+
if (pwm_value == 0) {
PX4_WARN("reading disarmed value of zero, disabling disarmed PWM");
}
--
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