Add Wheel and Gimbal support to PWM center

[ttechnick]

Solved Problem

Fixes #26210: Add Wheel and Gimbal to have PWM Servo Center functionality.

Changelog Entry

For release notes:

Bugfix: Include Wheel and Gimbal for PWM Center

[perrrre]

Thanks, I will remove the gimbal output functions from my PR then. Do we need to update documentation?

[ttechnick]

Thank, I will remove the gimbal output functions from my PR then. Do we need to update documentation?

We could add a list of the functions this applies to, but that may not be necessary. The behavior should be self-explanatory, since the feature is intended to apply to all PWM servos that can reasonably be expected to have a center position.

[sfuhrer]

Thanks for the extension.
About documentation: Would be good to add it to gimbal configuration docs, not sure what we already have there though. Or we remove the PWM_CENT docs from the control surface section and keep them separated, noting that it effects all actuators with a clearly defined "center".

[github-actions]

No flaws found

[hamishwillee]

@ttechnick As per #26211 (review) - have you a plan for the docs?

Everything about setting up the Gimbal specifically for PX4 is in https://docs.px4.io/main/en/advanced/gimbal_control#gimbal-on-fc-pwm-output-mnt-mode-out-aux .

If you create a PR then please assign @julianoes to check it. If you need more help, ping Julian or me. (Julian wrote that implementation and also was an author of the MAVLink Gimbal protocol)

[ttechnick]

@hamishwillee The PR already includes the update to the gimbal documentation in Gimbal docs . This was added after that review comment from Silvan.

If you feel like it is not enough, please elaborate what exactly is not clear and I will fix it.

[hamishwillee]

@ttechnick I didn't check before posting so it is probably perfect. Will comment tomorrow if there is anything to be done.

[hamishwillee]

It's good. Thanks.