The standard unit for a PWM signal is milli-seconds or u-seconds. However, ardupilot uses values in range (1100-1900 by default) for pwm output control on servos and RC.
What is the relation between ms/us and ardupilot values?
The standard unit for hobby grade servo control is micro seconds (µs or 1x10e-6 s)
Ardupilot calls them PWM for historical reasons.
But they are pure simple micro-seconds.
So the answer is: the relation is 1:1
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