Input Configuration

FALCON supports two input sources for throttle control: servo PWM capture and analog input. The system uses whichever input has a valid signal, with PWM taking priority when both are valid.

info

All input configuration parameters are located in the /io/ folder.

Parameters

in_analog

GPIO ID of the analog throttle input. Set to 0 to disable.

in_ppm_ch

Servo PWM input channel number. Set to -1 to disable.

The default value is pre-configured for the primary PWM input pin of your hardware variant — in most cases you should leave it at the default and simply wire your servo PWM signal to that pin.

The channel-to-pin mapping is hardware-specific. See the "PWM/PPM capture input pins channel mapping" section in your controller's hardware IO documentation for the exact pin assignment and any constraints.

tip

If unsure, leave in_ppm_ch at the default and verify by checking the sig_pwm stat — it should respond to your throttle input with values between -1 and 1.

in_estop

GDIN or DIN ID for the emergency stop input. Set to 0 to disable.

in_quick_setup

GDIN ID for the Quick-setup pad button input. Set to 0 to disable.

in_btemp1

GPIO ID for battery temperature sensor 1. Set to 0 to disable.

in_btemp2

GPIO ID for battery temperature sensor 2. Set to 0 to disable.

Signal Conditioning

Both input sources are normalized to a unified [-1, 1] range and then merged into a single command signal:

PWM pulse  -->  /pwm_input/  --+
                               |--> /csc/  -->  sig_throttle
GPIO mV    -->  /analog_input/-+

If both inputs produce a valid signal, PWM has priority. If the PWM signal becomes invalid (NaN), the analog signal is used as a fallback.

/pwm_input/ — PWM Signal Conditioner

Converts the captured pulse width (in µs) from in_ppm_ch into a normalized sig_pwm value, with timeout-based loss-of-signal detection.

/analog_input/ — ASC (Analog Signal Conditioner)

Converts the raw mV reading from in_analog into a normalized sig_analog value, with out-of-range detection for broken/shorted sensors.

/csc/ — CSC (Control Signal Conditioner)

Applies the final deadzone, hysteresis and low-pass filtering on the selected throttle signal before it reaches the arming logic and motor command.

States

State	Unit	Description
sig_pwm	-	Normalized signal from PWM capture (-1~1)
sig_analog	-	Normalized signal from analog input (-1~1)
sig_throttle	-	Final throttle signal used by the app