fmu:Add MODE_4PWM1CAP, MODE_5PWM, MODE_5PWM1CAP

[davids5]

This extends the Capture support for FMU
CHAN 5 and 6.

FYI @DanielePettenuzzo, @mhkabir this is needed for #10295 (comment)

I will do a PR against your pr with the IOCTL code in it. I tested this on a FMUv2 (2MB) on FMU_CH6 as trigger.

[dagar]

Module documentation build failure - http://ci.px4.io:8080/blue/organizations/jenkins/PX4%2FFirmware/detail/master_fmu_more_cap_modes/2/pipeline

Warning: undocumented command 'mode_pwm5cap1' in drivers/px4fmu

Warning: undocumented command 'mode_pwm4cap1' in drivers/px4fmu

[dagar]

Module documentation build failure

[davids5]

@DanielePettenuzzo fyi:

testing fmu mode_pwm5cap1
FMUv4 - 100,000 Hz on chan 6 (no call out*) from 37.5 % to 62.5 %
FMUv5-mini - 100,000 Hz on chan 6 (no call out*) from 30.5 % to 39.25 %

*you would add your cycle count when the call out is in place for what it adds to the isr.

[davids5]

@dagar changes pushed. Is CI fail VTOL_tailsitter independant?

[dagar]

@dagar changes pushed. Is CI fail VTOL_tailsitter independant?

Yes, but it's a very real failure. @RomanBapst FYI

[LorenzMeier]

Issue filed here for the CI test: #10590

Roman is out of office, so we'll have to rely on Mathieu to get that out of the way most likely.