pwm_out_sim cleanup

- move to ModuleBase - strip down to PWM 8 and 16 modes only - remove all dead code - implement missing pwm ioctls (current value, rates, etc) - default rate 50Hz -> 400Hz
2026-05-21 01:12:11 +00:00 · 2018-03-04 11:00:40 -05:00
parent 3d6854099e
commit 38f5f60a1e
40 changed files with 841 additions and 1140 deletions
--- a/posix-configs/SITL/init/ekf2/hippocampus
+++ b/posix-configs/SITL/init/ekf2/hippocampus
@@ -13,7 +13,7 @@ dataman start

 simulator start -s

-pwm_out_sim mode_pwm
+pwm_out_sim start
 mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix

 gyrosim start
--- a/posix-configs/SITL/init/ekf2/iris
+++ b/posix-configs/SITL/init/ekf2/iris
@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/ekf2/iris_1
+++ b/posix-configs/SITL/init/ekf2/iris_1
@@ -55,7 +55,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/ekf2/iris_2
+++ b/posix-configs/SITL/init/ekf2/iris_2
@@ -55,7 +55,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/ekf2/iris_irlock
+++ b/posix-configs/SITL/init/ekf2/iris_irlock
@@ -54,7 +54,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/ekf2/iris_opt_flow
+++ b/posix-configs/SITL/init/ekf2/iris_opt_flow
@@ -56,7 +56,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/ekf2/iris_rplidar
+++ b/posix-configs/SITL/init/ekf2/iris_rplidar
@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/ekf2/multiple_iris
+++ b/posix-configs/SITL/init/ekf2/multiple_iris
@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/ekf2/plane
+++ b/posix-configs/SITL/init/ekf2/plane
@@ -61,7 +61,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 navigator start
--- a/posix-configs/SITL/init/ekf2/rover
+++ b/posix-configs/SITL/init/ekf2/rover
@@ -57,7 +57,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sleep 1
 sensors start
 commander start
--- a/posix-configs/SITL/init/ekf2/solo
+++ b/posix-configs/SITL/init/ekf2/solo
@@ -50,7 +50,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/ekf2/standard_vtol
+++ b/posix-configs/SITL/init/ekf2/standard_vtol
@@ -68,7 +68,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start start
 sensors start
 commander start
 land_detector start vtol
--- a/posix-configs/SITL/init/ekf2/tailsitter
+++ b/posix-configs/SITL/init/ekf2/tailsitter
@@ -49,7 +49,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start vtol
--- a/posix-configs/SITL/init/ekf2/tiltrotor
+++ b/posix-configs/SITL/init/ekf2/tiltrotor
@@ -70,7 +70,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start vtol
--- a/posix-configs/SITL/init/ekf2/typhoon_h480
+++ b/posix-configs/SITL/init/ekf2/typhoon_h480
@@ -56,7 +56,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm16
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/inav/iris
+++ b/posix-configs/SITL/init/inav/iris
@@ -51,7 +51,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/inav/iris_opt_flow
+++ b/posix-configs/SITL/init/inav/iris_opt_flow
@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/lpe/hippocampus
+++ b/posix-configs/SITL/init/lpe/hippocampus
@@ -13,7 +13,7 @@ dataman start

 simulator start -s

-pwm_out_sim mode_pwm
+pwm_out_sim start
 mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix

 gyrosim start
--- a/posix-configs/SITL/init/lpe/iris
+++ b/posix-configs/SITL/init/lpe/iris
@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/lpe/iris_1
+++ b/posix-configs/SITL/init/lpe/iris_1
@@ -55,7 +55,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/lpe/iris_2
+++ b/posix-configs/SITL/init/lpe/iris_2
@@ -55,7 +55,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/lpe/iris_irlock
+++ b/posix-configs/SITL/init/lpe/iris_irlock
@@ -61,7 +61,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/lpe/iris_opt_flow
+++ b/posix-configs/SITL/init/lpe/iris_opt_flow
@@ -71,7 +71,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/lpe/iris_rplidar
+++ b/posix-configs/SITL/init/lpe/iris_rplidar
@@ -52,7 +52,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sleep 1
 sensors start
 commander start
--- a/posix-configs/SITL/init/lpe/plane
+++ b/posix-configs/SITL/init/lpe/plane
@@ -59,7 +59,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 navigator start
--- a/posix-configs/SITL/init/lpe/rover
+++ b/posix-configs/SITL/init/lpe/rover
@@ -53,7 +53,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sleep 1
 sensors start
 commander start
--- a/posix-configs/SITL/init/lpe/solo
+++ b/posix-configs/SITL/init/lpe/solo
@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/lpe/standard_vtol
+++ b/posix-configs/SITL/init/lpe/standard_vtol
@@ -63,7 +63,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start vtol
--- a/posix-configs/SITL/init/lpe/typhoon_h480
+++ b/posix-configs/SITL/init/lpe/typhoon_h480
@@ -50,7 +50,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm16
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter
--- a/posix-configs/SITL/init/rcS_gazebo_delta_wing
+++ b/posix-configs/SITL/init/rcS_gazebo_delta_wing
@@ -35,7 +35,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 navigator start
--- a/posix-configs/SITL/init/test/cmd_template.in
+++ b/posix-configs/SITL/init/test/cmd_template.in
@@ -13,7 +13,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start

 ver all

--- a/posix-configs/SITL/init/test/tests_template.in
+++ b/posix-configs/SITL/init/test/tests_template.in
@@ -13,7 +13,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start

 ver all