Apply motors configuration without reboot

docs/usage.md

@@ -143,8 +143,6 @@ If using brushless motors and ESCs:
 1. Set the appropriate PWM using the parameters: `MOT_PWM_STOP`, `MOT_PWM_MIN`, and `MOT_PWM_MAX` (1000, 1000, and 2000 is typical).
 2. Decrease the PWM frequency using the `MOT_PWM_FREQ` parameter (400 is typical).
 
-Reboot the drone to apply the changes.
-
 > [!CAUTION]
 > **Remove the props when configuring the motors!** If improperly configured, you may not be able to stop them.
 

docs/user.md

@@ -4,17 +4,6 @@ This page contains user-built drones based on the Flix project. Publish your pro
 
 ---
 
-Author: **Arkadiy "Arky" Matsekh**, Foucault Dynamics, Gold Coast, Australia.<br>
-The drone was built for the University of Queensland industry-led Master's capstone project.
-
-**Flight video:**
-
-<a href="https://drive.google.com/file/d/1NNYSVXBY-w0JjCo07D8-PgnVq3ca9plj/view?usp=sharing"><img height=300 src="img/user/arkymatsekh/video.jpg"></a>
-
-<img src="img/user/arkymatsekh/1.jpg" height=150> <img src="img/user/arkymatsekh/2.jpg" height=150> <img src="img/user/arkymatsekh/3.jpg" height=150>
-
----
-
 Author: [goldarte](https://t.me/goldarte).<br>
 
 <img src="img/user/goldarte/1.jpg" height=150> <img src="img/user/goldarte/2.jpg" height=150>

flix/motors.ino

@@ -24,6 +24,7 @@ void setupMotors() {
 	// configure pins
 	for (int i = 0; i < 4; i++) {
 		ledcAttach(motorPins[i], pwmFrequency, pwmResolution);
+		pwmFrequency = ledcChangeFrequency(motorPins[i], pwmFrequency, pwmResolution); // if re-initializing
 	}
 	sendMotors();
 	print("Motors initialized\n");

flix/parameters.ino

@@ -120,6 +120,11 @@ void setupParameters() {
 	}
 }
 
+void afterParameterChange(String name, const float value) {
+	if (name == "MOT_PWM_FREQ" || name == "MOT_PWM_RES") setupMotors();
+	if (name == "MOT_PIN_FL" || name == "MOT_PIN_FR" || name == "MOT_PIN_RL" || name == "MOT_PIN_RR") setupMotors();
+}
+
 int parametersCount() {
 	return sizeof(parameters) / sizeof(parameters[0]);
 }
@@ -148,6 +153,7 @@ bool setParameter(const char *name, const float value) {
 		if (strcasecmp(parameter.name, name) == 0) {
 			if (parameter.integer && !isfinite(value)) return false; // can't set integer to NaN or Inf
 			parameter.setValue(value);
+			afterParameterChange(name, value);
 			return true;
 		}
 	}

gazebo/Arduino.h

@@ -165,6 +165,7 @@ void delay(uint32_t ms) {
 
 bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; }
 bool ledcWrite(uint8_t pin, uint32_t duty) { return true; }
+uint32_t ledcChangeFrequency(uint8_t pin, uint32_t freq, uint8_t resolution) { return freq; }
 
 unsigned long __micros;
 unsigned long __resetTime = 0;