AP_Motors: Allow the user to control minimum PWM time when coming out of SAFE_DISARM #12319
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rmackay9
reviewed
Sep 23, 2019
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need to test this doesn't affect spin up time when not using safe arm |
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Using a saleae I see no increase in time for the PWM to come up when this is turned off, and the signal looks as expected. |
tridge
approved these changes
Oct 15, 2019
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M_SAFE_DISARMallows you to ensure there are no pulses while disarmed. Depending upon the ESC you have you will need a minimum time at minimum throttle to enable the ESC to spin up. This introduces a parameter to control the ramp up time on the motor. The initial patch was done by @lthall I did the bench testing of it and had to add a patch to restore a regression around sending pulses when it shouldn't be. The main change I introduced on top of what @lthall did was that when going into the shutdown state on the motors I removed the spool down time. I think this is actually appropriate though as while I need a second of the motor being at a low throttle to start the motors, I really don't want or need a second of minimum throttle when stopping the motors. And the act of disarming the aircraft already has the same effect of cutting the throttle output so I think this is a safe path.