From 182d259822aa41ca0dbf2a59276608dec0fc58d2 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Tue, 30 Apr 2024 14:02:56 -0500 Subject: [PATCH] AP_Motors:explain PMWRange/Angle PWM types in metadata --- libraries/AP_Motors/AP_MotorsMulticopter.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsMulticopter.cpp b/libraries/AP_Motors/AP_MotorsMulticopter.cpp index 5d315b91769087..4456d4cd918f08 100644 --- a/libraries/AP_Motors/AP_MotorsMulticopter.cpp +++ b/libraries/AP_Motors/AP_MotorsMulticopter.cpp @@ -86,7 +86,7 @@ const AP_Param::GroupInfo AP_MotorsMulticopter::var_info[] = { // @Param: PWM_TYPE // @DisplayName: Output PWM type - // @Description: This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output + // @Description: This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output. PWMRange and PWMAngle are PWM special/rare cases for ESCs that dont calibrate normally (some Sub motors) or where each ESC must have its PWM range set individually using the Servo params instead of PWM_MIN/MAX parameters. // @Values: 0:Normal,1:OneShot,2:OneShot125,3:Brushed,4:DShot150,5:DShot300,6:DShot600,7:DShot1200,8:PWMRange,9:PWMAngle // @User: Advanced // @RebootRequired: True @@ -375,7 +375,7 @@ float AP_MotorsMulticopter::get_current_limit_max_throttle() _throttle_limit += (_dt / (_dt + _batt_current_time_constant)) * (1.0f - batt_current_ratio); // throttle limit drops to 20% between hover and full throttle - _throttle_limit = constrain_float(_throttle_limit, 0.2f, 1.0f); + _throttle_limit = constrain_float(_throttle_limit, 0.2f, 1.0fPWMRange and PWMAngle are PWM special/rare cases for ESCs that dont calibrate normally (some Sub motors) or where each ESC must have its PWM range set individually using the Servo params instead of PWM_MIN/MAX parameters.); // limit max throttle return get_throttle_hover() + ((1.0 - get_throttle_hover()) * _throttle_limit);