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

PX4 Autopilot
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:

image
image1089×712 108 KB

image
image934×396 73.7 KB

image
image945×478 79.3 KB

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?

image
image1840×940 152 KB

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?

image
image1288×684 128 KB

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.