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大四轴的电调 用 PWM 驱动的了吗  用的是烈火代码的程序 

void Tim2_init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef   TIM_OCInitStructure;
uint16_t PrescalerValue = 0;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
/* Compute the prescaler value */
PrescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 200-1;
TIM_TimeBaseStructure.TIM_Prescaler = 7200-1;
TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

/* PWM1 Mode configuration: Channel */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 1;//³õʼռ¿Õ±ÈΪ0
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC4Init(TIM2, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM2, ENABLE);
TIM_Cmd(TIM2, ENABLE);
}


void Moto_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE); 
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 ; 
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; 
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; 
GPIO_Init(GPIOA, &GPIO_InitStructure);

Tim2_init();
}

给个2ms+18ms 的占空比 驱动不了