ArduPilot
AP_ESC extended status packet addition
Added support for ESC extended status telemetry data for CubeOrange and AP_Periph :
- INPUT_DUTY,
- OUTPUT_DUTY,
- STATUS_FLAGS
Do you have a spec for this? I am not finding anything that specifies this.
Binary Name Text [B] Data [B] BSS (B) Total Flash Change [B] (%) Flash Free After PR (B)
--------------- --------------- ----------- ------------- ---------------------------- -------------------------
ardusub 1320 (+0.0838%) 0 (0.0000%) 0 (0.0000%) 1320 (+0.0837%) 387144
antennatracker 1252 (+0.0944%) 0 (0.0000%) -4 (-0.0015%) 1252 (+0.0942%) 636060
ardurover 1244 (+0.0760%) 0 (0.0000%) -4 (-0.0015%) 1244 (+0.0759%) 326044
arduplane 1376 (+0.0773%) 0 (0.0000%) 0 (0.0000%) 1376 (+0.0771%) 179576
arducopter-heli 1248 (+0.0697%) 0 (0.0000%) 0 (0.0000%) 1248 (+0.0696%) 171368
blimp 1268 (+0.0939%) 0 (0.0000%) -4 (-0.0015%) 1268 (+0.0938%) 612848
arducopter 1268 (+0.0711%) 0 (0.0000%) -4 (-0.0015%) 1268 (+0.0709%) 176768
@andyp1per it is a custom APD code which is made for us. There is no document for it. Even if ardupilot don't accept the APDF120 custom implementation we would still like the ESCX backend support for logging to be merged.
This is the telemetry Structure : The flags: // Enumeration defining bit positions for each flag typedef enum { overTemp_flag = 0, signalLoss_flag, // 200mS since last throttle packet overVoltage_flag, sysRebooted_flag, // After every reboot or power cycle this bit will stay high for 30 seconds for cube to capture it. } flagTypes;
The telem struct: typedef struct { int8_t temperature; uint16_t voltage; uint16_t current; uint16_t consumption; uint16_t rpm; uint8_t inputDuty; uint8_t outputDuty; //mS uint8_t flags; uint8_t crc; }attribute((packed)) telem_t;
https://github.com/dronecan/DSDL/blob/master/uavcan/equipment/esc/1036.StatusExtended.uavcan#L1
@Pradeep-Carbonix @robertlong13 would be a good idea to split this into 2 PR one for ESCX support and other for APDF120 custom Firmware.
Even if ardupilot don't accept the APDF120 custom implementation we would still like the ESCX backend support for logging to be merged.
So its not BLHeli at all. I think we should make this clear in the naming and in the define to enable it. EDT2 is also providing some of this information and some is also available in the BLHeli status frame - we need to not get these muddled up and not trample over one.
This PR now has changes related to DroneCAN ESCX implementation only. BLHeli implementation is removed from this PR.
CI check autotest (sitltest-plane) is failing.
Tried to rerun on our VM -
./Tools/autotest/autotest.py --no-clean build.Plane test.Plane.SDCardWPTest
PASSED STEP: test.Plane.SDCardWPTest at Fri Jul 12 11:39:05 2024
@Pradeep-Carbonix I have done some the fixes for this PR here: https://github.com/IamPete1/ardupilot/tree/extended_esc. I can push over this branch if that is OK with you. Or you could do it yourself.
Just to re-iterate, I have done all the fixes that I think this PR needs here: https://github.com/IamPete1/ardupilot/commits/extended_esc/
