PWM limit state machine

ThePWM_limit State Machine controls PWM outputs as a function of pre-armed and armed inputs. Provides a delay between assertion of "armed" and a ramp-up of throttle on assertion of the armed signal.

Quick Summary

Inputs

• armed: asserted to enable dangerous behaviors such as spinning propellers

• pre-armed: asserted to enable benign behaviors such as moving control surfaces

• this input overrides the current state

• assertion of pre-armed immediately forces behavior of state ON, regardless of current state

• deassertion of pre-armed reverts behavior to current state

States

• INIT and OFF

  • pwm outputs set to disarmed values.

• RAMP

  • pwm outputs ramp from disarmed values to min values.

• ON

  • pwm outputs set according to control values.

State Transition Diagram

PWM Limit state machine diagram