11 lines
785 B
Markdown
11 lines
785 B
Markdown
The virtual swashplate algorithm is implemented in 2 modules within PX4.
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# Parameters
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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.
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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.
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| Parameter | Description | Value |
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| ---- | ---- | ---- |
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| PWM_MAIN_OUT | The pwm channels used as ESC outputs | 78 |
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| 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 |
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