[1.14] Default motor PWM configuration #21800
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This allows to consistently define: Motor stopped - disarmed PWM Motor idling - minimum PWM Motor at full thrust - maximum PWM Any allocation can then distinctly decide if a motor should be running or not depending on the context and also explicitly command that.
This allows PWM and all other output methods to configure stopped, idling and full thrust points and use them consistently. The fact that a fixed wing motor can be stopped when zero thrust is demanded is explicit and could in principle even be disabled. The mechanism is the same as for a standard VTOL stopping the multicopter motors in the fixed wing flight phase.
MaEtUgR
changed the title
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I merged the exact same pr on main (#21513) and hence I move on with this backport to 1.14 as well. |
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@MaEtUgR - I was having a problem with my pca9685 module connected to Raspberry Pi not producing 50Hz servo PWM. The reason is that _targetFreq is initialized to -1.0f (src/drivers/pca9685_pwm_out/main.cpp:94) -and is never set to anything else. While I'd like this fix to be merged into main (I can submit a PR), I would rather first ask for your opinion. |
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Solved Problem
Release port of #21513
Test coverage