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.
