sensors move PWM params to pwm_params.c

src/modules/sensors/pwm_params.c

+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file pwm_params.c
+ *
+ * Parameters defined for PWM output.
+ *
+ */
+
+/**
+ * Set the PWM output frequency for the main outputs
+ *
+ * Set to 400 for industry default or 1000 for high frequency ESCs.
+ *
+ * Set to 0 for Oneshot125.
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2000
+ * @unit Hz
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_RATE, 400);
+
+/**
+ * Set the minimum PWM for the main outputs
+ *
+ * Set to 1000 for industry default or 900 to increase servo travel.
+ *
+ * @reboot_required true
+ *
+ * @min 800
+ * @max 1400
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MIN, 1000);
+
+/**
+ * Set the maximum PWM for the main outputs
+ *
+ * Set to 2000 for industry default or 2100 to increase servo travel.
+ *
+ * @reboot_required true
+ *
+ * @min 1600
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAX, 2000);
+
+/**
+ * Set the disarmed PWM for the main outputs
+ *
+ * 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.
+ *
+ * @reboot_required true
+ *
+ * @min 0
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_DISARMED, 900);
+
+/**
+ * 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
+ *
+ * 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
+ *
+ * @reboot_required true
+ *
+ * @min 800
+ * @max 1400
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MIN, 1000);
+
+/**
+ * Set the maximum PWM for the auxiliary outputs
+ *
+ * Set to 2000 for default or 2100 to increase servo travel
+ *
+ * @reboot_required true
+ *
+ * @min 1600
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
+
+/**
+ * Set the disarmed PWM for auxiliary outputs
+ *
+ * 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.
+ *
+ * @reboot_required true
+ *
+ * @min 0
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1500);
+
+/**
+ * Thrust to PWM model parameter
+ *
+ * Parameter used to model the relationship between static thrust and motor
+ * input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);
+
+/**
+ * Minimum motor rise time (slew rate limit).
+ *
+ * Minimum time allowed for the motor input signal to pass through
+ * a range of 1000 PWM units. A value x means that the motor signal
+ * can only go from 1000 to 2000 PWM in maximum x seconds.
+ *
+ * Zero means that slew rate limiting is disabled.
+ *
+ * @min 0.0
+ * @unit s/(1000*PWM)
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);

src/modules/sensors/sensor_params.c

@@ -1121,318 +1121,6 @@ PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);
  */
 PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
 
-/**
- * Set the PWM output frequency for the main outputs
- *
- * Set to 400 for industry default or 1000 for high frequency ESCs.
- *
- * Set to 0 for Oneshot125.
- *
- * @reboot_required true
- *
- * @min -1
- * @max 2000
- * @unit Hz
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_RATE, 400);
-
-/**
- * Set the minimum PWM for the main outputs
- *
- * Set to 1000 for industry default or 900 to increase servo travel.
- *
- * @reboot_required true
- *
- * @min 800
- * @max 1400
- * @unit us
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_MIN, 1000);
-
-/**
- * Set the maximum PWM for the main outputs
- *
- * Set to 2000 for industry default or 2100 to increase servo travel.
- *
- * @reboot_required true
- *
- * @min 1600
- * @max 2200
- * @unit us
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_MAX, 2000);
-
-/**
- * Set the disarmed PWM for the main outputs
- *
- * 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.
- *
- * @reboot_required true
- *
- * @min 0
- * @max 2200
- * @unit us
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_DISARMED, 900);
-
-/**
- * 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
- *
- * 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
- *
- * @reboot_required true
- *
- * @min 800
- * @max 1400
- * @unit us
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_AUX_MIN, 1000);
-
-/**
- * Set the maximum PWM for the auxiliary outputs
- *
- * Set to 2000 for default or 2100 to increase servo travel
- *
- * @reboot_required true
- *
- * @min 1600
- * @max 2200
- * @unit us
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
-
-/**
- * Set the disarmed PWM for auxiliary outputs
- *
- * 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.
- *
- * @reboot_required true
- *
- * @min 0
- * @max 2200
- * @unit us
- * @group PWM Outputs
- */
-PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1500);
-
 /**
  * Thrust to PWM model parameter
  *