PWM: Draft implementation to respect PWM_OUT when loading defaults

ROMFS/px4fmu_common/init.d/rc.interface

@@ -226,6 +226,8 @@ then
 	fi
 fi
 
+param set PWM_AUX_OUT ${PWM_AUX_OUT}
+
 if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
 then
 	#
@@ -268,6 +270,8 @@ then
 	fi
 fi
 
+param set PWM_MAIN_OUT ${PWM_OUT}
+
 if [ $EXTRA_MIXER_MODE != none ]
 then
 

src/drivers/pwm_out/PWMOut.cpp

@@ -663,6 +663,7 @@ void PWMOut::update_params()
 	int32_t pwm_max_default = PWM_DEFAULT_MAX;
 	int32_t pwm_disarmed_default = 0;
 	int32_t pwm_rate_default = 50;
+	int32_t pwm_default_channels = 0;
 
 	const char *prefix;
 
@@ -673,6 +674,7 @@ void PWMOut::update_params()
 		param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
 		param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
 		param_get(param_find("PWM_MAIN_RATE"), &pwm_rate_default);
+		param_get(param_find("PWM_MAIN_OUT"), &pwm_default_channels);
 
 	} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
 		prefix = "PWM_AUX";
@@ -681,6 +683,7 @@ void PWMOut::update_params()
 		param_get(param_find("PWM_AUX_MAX"), &pwm_max_default);
 		param_get(param_find("PWM_AUX_DISARM"), &pwm_disarmed_default);
 		param_get(param_find("PWM_AUX_RATE"), &pwm_rate_default);
+		param_get(param_find("PWM_AUX_OUT"), &pwm_default_channels);
 
 	} else if (_class_instance == CLASS_DEVICE_TERTIARY) {
 		prefix = "PWM_EXTRA";
@@ -695,6 +698,14 @@ void PWMOut::update_params()
 		return;
 	}
 
+	uint32_t single_ch = 0;
+	uint32_t pwm_default_channel_mask = 0;
+
+	while ((single_ch = pwm_default_channels % 10)) {
+		pwm_default_channel_mask |= 1 << (single_ch - 1);
+		pwm_default_channels /= 10;
+	}
+
 	// update the counter
 	// this is needed to decide if disarmed PWM output should be turned on or not
 	int num_disarmed_set = 0;
@@ -716,7 +727,7 @@ void PWMOut::update_params()
 						param_set(param_find(str), &pwm_min_new);
 					}
 
-				} else {
+				} else if (pwm_default_channel_mask & 1 << i) {
 					_mixing_output.minValue(i) = pwm_min_default;
 				}
 			}
@@ -736,7 +747,7 @@ void PWMOut::update_params()
 						param_set(param_find(str), &pwm_max_new);
 					}
 
-				} else {
+				} else if (pwm_default_channel_mask & 1 << i) {
 					_mixing_output.maxValue(i) = pwm_max_default;
 				}
 			}
@@ -773,7 +784,7 @@ void PWMOut::update_params()
 						param_set(param_find(str), &pwm_dis_new);
 					}
 
-				} else {
+				} else if (pwm_default_channel_mask & 1 << i) {
 					_mixing_output.disarmedValue(i) = pwm_disarmed_default;
 				}
 			}

src/lib/pwm/pwm_aux_params.yaml

@@ -6,6 +6,17 @@ parameters:
     - group: PWM Outputs
       definitions:
 
+        PWM_AUX_OUT:
+            description:
+                short: PWM channels used as ESC outputs
+                long: |
+                    Number representing the channels e.g. 134 - Channel 1, 3 and 4.
+                    Global e.g. PWM_AUX_MIN/MAX/DISARM limits only apply to these channels.
+            type: int32
+            min: 0
+            max: 123456789
+            default: 0
+
         PWM_AUX_RATE:
             description:
                 short: PWM aux output frequency

src/lib/pwm/pwm_main_params.yaml

@@ -6,6 +6,17 @@ parameters:
     - group: PWM Outputs
       definitions:
 
+        PWM_MAIN_OUT:
+            description:
+                short: PWM channels used as ESC outputs
+                long: |
+                    Number representing the channels e.g. 134 - Channel 1, 3 and 4.
+                    Global e.g. PWM_MAIN_MIN/MAX/DISARM limits only apply to these channels.
+            type: int32
+            min: 0
+            max: 123456789
+            default: 0
+
         PWM_MAIN_RATE:
             description:
                 short: PWM main output frequency