PWM_limit 状态机

ThePWM_limit State Machine controls PWM outputs as a function of pre-armed and armed inputs. 并且会在解锁指令发出后、飞机油门增加之前引入一个延时。

总览

输入

• 解锁（armed）模式：宣告允许执行危险的动作指令，如转动螺旋桨。
• pre-armed: asserted to enable benign behaviors such as moving control surfaces
• this input overrides the current state
• assertion of pre-armed immediately forces behavior of state ON, regardless of current state
• deassertion of pre-armed reverts behavior to current state

状态

• INIT 和 OFF
  • pwm 输出设置为锁定状态的值。
• RAMP
  • pwm outputs ramp from disarmed values to min values.
• ON
  • 根据实际控制量设定 pwm 的输出值。

状态转移图