How to change PWM value and saturation in SILS or Gazebo?

PX4 Autopilot Simulation 🌍
1

I am analyzing the code files because I think PWM constraints can be modified. I found the following parameters:

  • PWM_MAIN_DIS1
  • PWM_MAIN_MAX1
  • PWM_MAIN_MIN1

So I added param set-default PWM_MAIN_MAX1 2111 to my custom airframe configuration file.

However, as shown in the image below, an error occurs:

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ERROR [param] Parameter PWM_MAIN_MAX1 not found.

What I want to know is: Are MAX, DIS, and MIN values not adjustable in SILS (Software-in-the-Loop Simulation)? I’ve seen other people being able to set PWM values in QGroundControl, but I don’t see such an interface. Why is that?

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When I modified these variables directly in the PWMSim.hpp file, the MAX, DIS, and MIN values changed in SILS. Is this the only way to change them?

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What I ultimately want to know is where I can change the MAX, MIN, and DIS values and how to modify them. Lastly, I would like to know the location of the code file that handles PWM value saturation.