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implement (not flight tested) brushed motors support.

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set motor_pwm_rate to some value > 500 (1000, 8000, 16000 etc works on my scope).
then the motor output can be used to directly drive brushed motor fets.
PWM is rescaled to 0-base in brushed mode, so all same values of min/maxthrottle apply.
This commit is contained in:
dongie 2014-01-31 11:56:55 +09:00
parent a695ddd66a
commit e8b3d00003
5 changed files with 40 additions and 13 deletions
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6
src/main.c
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@ -68,7 +68,11 @@ int main(void)
pwm_params.extraServos = cfg.gimbal_flags & GIMBAL_FORWARDAUX;
pwm_params.motorPwmRate = mcfg.motor_pwm_rate;
pwm_params.servoPwmRate = mcfg.servo_pwm_rate;
pwm_params.idlePulse = feature(FEATURE_3D) ? mcfg.neutral3d : 0;
pwm_params.idlePulse = PULSE_1MS; // standard PWM for brushless ESC (default, overridden below)
if (feature(FEATURE_3D))
pwm_params.idlePulse = mcfg.neutral3d;
if (pwm_params.motorPwmRate > 500)
pwm_params.idlePulse = 0; // brushed motors
pwm_params.failsafeThreshold = cfg.failsafe_detect_threshold;
switch (mcfg.power_adc_channel) {
case 1: