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Firmware Stable

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.

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.

Signal Conditioning​

Both input sources pass through signal conditioning chains before being used as throttle command:

  • Servo PWM input passes through the /pwm_input/ signal conditioner (PPM filter), which normalizes the pulse width to a -1 to 1 range.
  • Analog input passes through the /analog_input/ signal conditioner (ASC), which normalizes the analog value to a -1 to 1 range.

The conditioned signals are then processed by the /csc/ chain (center-symmetric conditioner), which applies deadzone and hysteresis.

States​

StateUnitDescription
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