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Co-Authored-By: PX4 BuildBot <bot@px4.io>
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PX4BuildBot
2026-06-08 22:07:13 +00:00
parent aaf93c9a5c
commit 8100ba9045
2 changed files with 13 additions and 5 deletions
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10
docs/en/flight_controller/corvon_743v2.md
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@@ -139,11 +139,11 @@ Configure the receiver protocol with the relevant `RC_*_PRT_CFG` parameter from
The 12 PWM outputs are organized into four timer groups. Channels in the same group must use the same output rate and DShot mode:
| Group | Timer | Channels | Default Protocol |
| ----- | ----- | -------- | ---------------- |
| 1 | TIM1 | M1–M4 | DShot600 |
| 2 | TIM3 | M5–M6 | DShot600 |
| 3 | TIM4 | M7–M10 | DShot600 |
| Group | Timer | Channels | Default Protocol |
| ----- | ----- | -------- | ------------------------- |
| 1 | TIM1 | M1–M4 | DShot600 |
| 2 | TIM3 | M5–M6 | DShot600 |
| 3 | TIM4 | M7–M10 | DShot600 |
| 4 | TIM12 | M11–M12 | PWM only (servo / gimbal) |
M1–M9 support BDShot telemetry readback; M10 is DShot-only because `TIM4_CH4` has no input-capture DMA channel on STM32H7. Bidirectional DShot can be enabled by setting `PWM_MAIN_TIM0..2` to a BDShot value (`-6` BDShot600, `-7` BDShot300, `-8` BDShot150) in QGroundControl.

8
docs/en/msg_docs/ActionRequest.md
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@@ -50,6 +50,12 @@ Used in field(s): [source](#fld_source)
| <a id="#SOURCE_RC_BUTTON"></a> SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held |
| <a id="#SOURCE_RC_MODE_SLOT"></a> SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------------- | ------- | ----- | ----------- |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg)
@@ -83,6 +89,8 @@ uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pre
uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism
uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
uint8 ORB_QUEUE_LENGTH = 4
```
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