How to set PWM range

PX4 version: release/1.13
gazebo 11, ubuntu 20.04

for iris_ctrlalloc.sdf, it load the default params in rc.mc_defaults:

set VEHICLE_TYPE mc

# MAV_TYPE_QUADROTOR 2
param set-default MAV_TYPE 2

if param compare IMU_GYRO_RATEMAX 400
then
	param set-default IMU_GYRO_RATEMAX 800
fi

param set-default NAV_ACC_RAD 2

param set-default RTL_RETURN_ALT 30
param set-default RTL_DESCEND_ALT 10

param set-default PWM_MAIN_MAX 1950
param set-default PWM_MAIN_MIN 1075
param set-default PWM_MAIN_RATE 400

param set-default GPS_UBX_DYNMODEL 6

#
# This is the gimbal pass mixer.
#
set MIXER_AUX pass

set MIXER quad_x

set PWM_OUT 1234

set PWM_AUX_OUT 1234

and in 10017 iris_ctrlalloc,

. ${R}etc/init.d/rc.mc_defaults

param set-default SYS_CTRL_ALLOC 1


param set-default CA_AIRFRAME 0

param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05

param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104

set MIXER skip
set MIXER_AUX none

then I revised vehicle in mavros_posix_sitl.launch, and launch ,but got this:

then I tried iris.sdf without control allocator:


weirder.

so how to make PWM_MAIN_MIN and MAX effective?

thanks for any advice and suggestion.

also there is a chat in dronecode discord

I recommend you use a newer PX4 release, a lot has changed in how we do control allocation/mixing and PWM configuration since 1.13.

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