VOXL2 IO independent Disarm PWM value per channel?
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Hi, I’d like to be able to assign specific channels with separate PWM disarm values as various motors I am using have different settings with their respective ESCs. I know this is fairly standard for other FC’s including the FCv2 where I’m able to set a min/max and disarm value for each of the 8 channels independently. Currently when I go to disarm I’m stuck with some motors spinning and some not unless I make a MAVSDK script to disable the motor parameters depending on what I’m doing. It would be nice to not have to worry about that though.
Would there be a way to implement this or does the px4 driver for the M0065 have to be rewritten to accommodate?
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Hi @Gary-Holmgren,
We tested this functionality but due to insufficient demand, we did not mainline it, because it would require parameter change and could cause confusion.
https://github.com/modalai/px4-firmware/commit/abd04fafa746af512960a1de2386d5d7f6cb512a
However, you should be able to cherry pick this commit into latest px4-firmware from voxl-dev branch or whatever you are using now.
No need to modify M0065 because the interface between VOXL2 and M0065 does not specify the limits - M0065 just creates the pulse of the specific length that VOXL2 requests and M0065 does not care about the limits, so all the logic is done in VOXL2 / PX4.
After this change, the voxl2_io driver will look for the following px4 params, which have standard convention / naming. Defaults will be used if not specified.
(for x=1:8)- VOXL2_IO_FUNCx
- VOXL2_IO_MINx
- VOXL2_IO_MAXx
- VOXL2_IO_DISx
- VOXL2_IO_FAILx
Alex
