Open magicrub opened 5 years ago
Also consider that for rovers you might want to use brushed with relay function to allow reversing, then you need to associate two pins to each function.
This will be a better solution for https://github.com/ArduPilot/ardupilot/issues/8632
MOT_PWM_TYPE controls PWM signal type to different motors. This includes DShot, "RC PWM", and brushless PWM (duty cycle). We don't have a way to map, for example, brushless PWM signal to an aileron or ICE starter or Gripper. We need to de-couple PWM type to servo function. Problems we need to watch out for is you can damage a traditional servo if you send brushed/duty PWM when it expects normal/RC PWM pulses. This is especially bad because even if we configured it correctly, the configuration is hardware dependant so one configuration may work on one autopilot HW, but will kill servos if same settings are used on another HW.
For example, here's the map for a Cube. There's 3 PWM groups which are tied to timer mappings. Right now there is no source code to be timer-aware, that is abstracted out in the HAL for a just-works solution but with limited visibility. That needs to be exposed to detect improper configuration.