AP_Motors6DOF: use its own rc_write, which allows trimming motor outputs

[Williangalvani]

I was told some people out there sell ESCs with bad crystals or something that fail to detect 1500us properly.
I was also told "they calibrate it in the factory", but that doesn't seem to be quite true. These (bi-directional) ESCs end up centered at 1520 or sometimes more.

This allows the users to cope with these and other ESCs.

Tested and working.

should fix #23002

[IamPete1]

Using output trimmed adds a dependency on the individual servo min and max params too. It just constrains, this would be a problem with default parameter values because MOT_PWM_MIN and MOT_PWM_MAX default to 1000 and 2000 where as SERVOx_MIN and SERVOx_MAN default to 1100 and 1900. So you would be loosing the top 20% of your range.

[Williangalvani]

Using output trimmed adds a dependency on the individual servo min and max params too. It just constrains, this would be a problem with default parameter values because MOT_PWM_MIN and MOT_PWM_MAX default to 1000 and 2000 where as SERVOx_MIN and SERVOx_MAN default to 1100 and 1900. So you would be loosing the top 20% of your range.

Using output trimmed adds a dependency on the individual servo min and max params too. It just constrains, this would be a problem with default parameter values because MOT_PWM_MIN and MOT_PWM_MAX default to 1000 and 2000 where as SERVOx_MIN and SERVOx_MAN default to 1100 and 1900. So you would be loosing the top 20% of your range.

we actually do override those.

but it would make MOT_MIN/MAX and MOT_REVERSE redundant...
I think I should probably remove those and migrate them to SERVO params

[IamPete1]

Yeah, the possibility of having conflicting ranges means the mixer will get confused, it might endup winding up I against the servo limit because it does not know the output is saturated. The other problem with unilaterally switching to set_output_pwm_trimmed is that it will reverse the output if SERVOx_REVERSED is set, so if users have messed with their reversals previously now we start using them some of the motors come out backwards.

Why not have users change to range MOT_PWM_TYPE so set_output_scaled is used?

[Williangalvani]

Why not have users change to range MOT_PWM_TYPE so set_output_scaled is used?

I wasn't aware of this! nice. I'll check it out.

thanks

[Williangalvani]

It turned out that PWM_TYPE_PWM_RANGE is actually not working for sub.
This change makes it work, although I'm not sure it is 100% correct

[IamPete1]

Do you know if the other none standard PWM types work for sub? Dshot ect. It looks to me like it really should work, I think the setup is done in on sub the same way as the other vehicles.

[Williangalvani]

Do you know if the other none standard PWM types work for sub? Dshot ect. It looks to me like it really should work, I think the setup is done in on sub the same way as the other vehicles.

the only thing I noticed missing was calc_pwm() and while that made it work in a way, it still didn't use SERVOx_TRIM

[IamPete1]

Ah, we need to set servo type to angle not range I guess subs motors are always reversible?

[IamPete1]

Sorry for the bad steer on range type, I have done a PR to add a new angle type which will respect trim.

#26415

[Williangalvani]

closing in favor of #26415