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Claudio
2024-12-02 15:11:30 +01:00
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The virtual swashplate algorithm is implemented in 2 modules within PX4.
# Parameters
It's important to have oneshot (or possibly dshot) as a protocol, because normal pwm signals are is too slow to do the actuation at our rpm.
In the flight controllers the PWM pins are grouped into timer groups, which use the same timer in the background and thus need to share the same protocol. For the [[Control Zero - Setup|Control Zero]] those groups are 1234, 56 and 78. We have chosen 7&8 as our virtual swashplate outputs.
| Parameter | Description | Value |
| ---- | ---- | ---- |
| PWM_MAIN_OUT | The pwm channels used as ESC outputs | 78 |
| PWM_MAIN_RATE | The pwm rate at which the signal is being generated. 0 Hz means that the [[PWM#Oneshot\|OneShot125]] protocol is used. | 0 Hz |