ESC Telem Pre ARM check added

[loki077]

The goal is to have ESC telem Pre Arm check.

[rmackay9]

Thanks for this.

Instead of adding a new check, I wonder if it might be possible to re-use the TKOFF_RPM_MIN check? Perhaps not because this is not actually an arming check and it's also Copter specific.

If possible I'd like us to avoid adding another parameter to reduce complexity for the user.

[loki077]

@rmackay9 I would like to avoid a new parameter but I am not sure of a method where we can know which ESC to expect telemetry for.

[loki077]

@rmackay9 I also wanted to add other failure like dropping of telemetry post arming, RPM not responding to demand from RCOUT, temperature failure, or reporting the error status from ESC telemetry. But not sure if it is better to put that in lua or Ardupilot.

[rmackay9]

@loki077,

Regarding Lua or C++ it comes down to how many people are expected to use it vs the complexity. Sometimes things start as Lua and are then migrated to C++ so Lua is at least a good first step.

[loki077]

Tested on our Aircraft, it takes few single digit seconds to push the PRE Arm Error once the ESC is disconnected but clear almost instantly once cleared.

[loki077]

@peterbarker should I keep the instance starting from 0 or 1 to print the Error ?

[ghost]

@rmackay9 @andyp1per @tridge @peterbarker I agree TAKEOFF_MIN can do the same what I am trying to achieve here. Will just need to implement in Plane. https://github.com/ArduPilot/ardupilot/pull/21499