PWM that will be output when disarmed or in stop mode (SAFE_DISARM_PWM)
Description
This parameter determines the signal sent to the servos when the Antenna Tracker is in a disarmed state or "Stop" mode. It is a safety feature to ensure the tracker does not move unexpectedly or holds a neutral position when not actively tracking.
The Mathematics
The parameter acts as a selector for the output logic:
- 0: Zero PWM (Output = 0). Depending on the hardware/HAL, this may mean sending no signal pulses (servos go limp) or sending a 0us pulse width.
- 1: Trim PWM. The servos are commanded to their trim (center) position.
The Engineer's View
Defined in AntennaTracker/Parameters.cpp and used in tracking.cpp. The values map to the PWMDisarmed enum:
Tuning & Behavior
- Default Value: 0
- 0 (Zero PWM): Servos are typically unpowered (signal-wise) and can be moved by hand (if digital servos support this) or stay in their last position.
- 1 (Trim PWM): Servos are actively held at their centered/neutral position.