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[BACKPORT 1.17] Include PWM Center PR#26317

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sfuhrer merged 2 commits intorelease/1.17from
pr-pwm-cent-fix-117
Jan 22, 2026
Merged

[BACKPORT 1.17] Include PWM Center PR#26317
sfuhrer merged 2 commits intorelease/1.17from
pr-pwm-cent-fix-117

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@ttechnick ttechnick commented Jan 21, 2026

Solved Problem

Include Servo PWM feature merged here in the release 1.17

Solution

Changelog Entry

For release notes:

Feature: PWM CENTER
New parameter: `PWM_MAIN_CENTx` and PWM_AUX_CENTx`
Documentation: Need to clarify page [Actuator Configuration and Testing](https://docs.px4.io/main/en/config/actuators#output-assignment-and-configuration)

Test coverage

Testing is covered in the original PR

ttechnick and others added 2 commits January 21, 2026 09:07
@ttechnick @sfuhrer
PWM: Add servo center setting & asymetric deflection (#25897)
84dafe5 
Add PWM_*_CENTERx for each servo.
Use a bilinear transform to map actuator_servos to PWM signals.

This solution only works for PWM based servos. Other types of servos are not affected.

* PWM: Add servo trim option

* PWM: Improve documentation of PWM trim feature

* PWM: cleaner clamping and docs typo

* update documentation & safety

* add migration formula

* rename param from trim to center

* docs with center instead of trim

* move clamping and reorder values

* improve documentation

* adress failing range check

* improve documentation

* CA: add event for setting CENTER with TRIM

Signed-off-by: Silvan <silvan@auterion.com>

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
@ttechnick
pwm: Add PWM center support to Wheel and Gimbal (#26211)
a25ba47 
* Add Wheel and Gimbal support to PWM center

* Document Center feature for PWM Gimbal
@ttechnick ttechnick requested a review from sfuhrer January 21, 2026 08:16
@ttechnick ttechnick changed the title [1.17] Include PWM Center PR [BACKPORT 1.17] Include PWM Center PR Jan 21, 2026
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github-actions bot commented Jan 21, 2026

No flaws found

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github-actions bot commented Jan 21, 2026

🔎 FLASH Analysis

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Updated: 2026-01-21T08:23:56

sfuhrer
sfuhrer approved these changes Jan 21, 2026
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It's definitely a cool new feature and it got quite some testing in the last weeks, I would ok to merge it to the release branch as well.
But strictly speaking it's a feature and not a bug.
What's your take on it @dakejahl ?

dakejahl
dakejahl approved these changes Jan 21, 2026
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I'm cool with it, I took a quick look and it all looks good to me

@sfuhrer sfuhrer merged commit 2a78d7d into release/1.17 Jan 22, 2026
74 of 76 checks passed
@sfuhrer sfuhrer deleted the pr-pwm-cent-fix-117 branch January 22, 2026 12:53
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@ttechnick @sfuhrer @dakejahl