Make PWM_RATE configurable via QGroundControl

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -10,13 +10,13 @@ then
 	param set PWM_DISARMED 900
 	param set PWM_MIN 1075
 	param set PWM_MAX 1950
+	param set PWM_RATE 400
 
 	param set RTL_LAND_DELAY 0
 fi
 
-# set environment variables (!= parameters)
-set PWM_RATE 400
 # tell the mixer to use parameters for these instead
+set PWM_RATE p:PWM_RATE
 set PWM_DISARMED p:PWM_DISARMED
 set PWM_MIN p:PWM_MIN
 set PWM_MAX p:PWM_MAX

src/modules/sensors/sensor_params.c

@@ -3134,6 +3134,24 @@ PARAM_DEFINE_INT32(SENS_EN_TRONE, 0);
  */
 PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);
 
+/**
+ * Set the PWM output frequency for the MAIN outputs
+ *
+ * IMPORTANT: CHANGING THIS PARAMETER REQUIRES A COMPLETE SYSTEM
+ * REBOOT IN ORDER TO APPLY THE CHANGES. COMPLETELY POWER-CYCLE
+ * THE SYSTEM TO PUT CHANGES INTO EFFECT.
+ *
+ * Set to 400 for industry default or 1000 for high frequency ESCs.
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2000
+ * @unit Hz
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_RATE, 400);
+
 /**
  * Set the minimum PWM for the MAIN outputs
  *

src/modules/sensors/sensors.cpp

@@ -750,6 +750,7 @@ Sensors::Sensors() :
 	(void)param_find("SYS_PARAM_VER");
 	(void)param_find("SYS_AUTOSTART");
 	(void)param_find("SYS_AUTOCONFIG");
+	(void)param_find("PWM_RATE");
 	(void)param_find("PWM_MIN");
 	(void)param_find("PWM_MAX");
 	(void)param_find("PWM_DISARMED");

src/systemcmds/pwm/pwm.c

@@ -112,6 +112,44 @@ usage(const char *reason)
 
 }
 
+static unsigned
+get_parameter_value(const char *option, const char* paramDescription)
+{
+	unsigned result_value = 0;
+	
+	/* check if this is a param name */
+	if (strncmp("p:", option, 2) == 0) {
+
+		char paramName[32];
+		strncpy(paramName, option + 2, 16);
+		/* user wants to use a param name */
+		param_t parm = param_find(paramName);
+
+		if (parm != PARAM_INVALID) {
+			int32_t pwm_parm;
+			int gret = param_get(parm, &pwm_parm);
+
+			if (gret == 0) {
+				result_value = pwm_parm;
+			} else {
+				errx(gret, "PARAM '%s' LOAD FAIL", paramDescription);
+			}
+		} else {
+			errx(1, "PARAM '%s' NAME NOT FOUND", paramName);
+		}
+
+	} else {
+		char *ep;
+		result_value = strtoul(option, &ep, 0);
+
+		if (*ep != '\0') {
+			errx(1, "BAD '%s'", paramDescription);
+		}
+	}
+
+	return result_value;
+}
+
 int
 pwm_main(int argc, char *argv[])
 {
@@ -190,48 +228,12 @@ pwm_main(int argc, char *argv[])
 
 			break;
 
-		case 'p': {
-				/* check if this is a param name */
-				if (strncmp("p:", optarg, 2) == 0) {
-
-					char buf[32];
-					strncpy(buf, optarg + 2, 16);
-					/* user wants to use a param name */
-					param_t parm = param_find(buf);
-
-					if (parm != PARAM_INVALID) {
-						int32_t pwm_parm;
-						int gret = param_get(parm, &pwm_parm);
-
-						if (gret == 0) {
-							pwm_value = pwm_parm;
-
-						} else {
-							usage("PARAM LOAD FAIL");
-						}
-
-					} else {
-						usage("PARAM NAME NOT FOUND");
-					}
-
-				} else {
-
-					pwm_value = strtoul(optarg, &ep, 0);
-				}
-
-				if (*ep != '\0') {
-					usage("BAD PWM VAL");
-				}
-			}
-
+		case 'p': 
+			pwm_value = get_parameter_value(optarg, "PWM Value");
 			break;
 
 		case 'r':
-			alt_rate = strtoul(optarg, &ep, 0);
-
-			if (*ep != '\0') {
-				usage("BAD rate VAL");
-			}
+			alt_rate = get_parameter_value(optarg, "PWM Rate");
 
 			break;
 
@@ -888,4 +890,3 @@ pwm_main(int argc, char *argv[])
 	usage(NULL);
 	return 0;
 }
-