prevent very high target speeds when the target velocity profile is
above the initial speed in POSITION1. Always allow up to 2*Q_WP_SPEED,
but don't go above the initial speed
in some situations (such as when landing approach is disabled) the
vfwd integrator can wind up to extreme values. This can put a huge
load on an electric quadplane as it is running both forward and vtol
motors, and the downforce from being nose down can be extreme.
It should never need to go above the cruise throttle in any reasonable
situation, so limit it to cruise to ensure we don't apply too much
forward throttle
Should remove the race condition where we disable an ESC but the vehicle
doesn't realise and lets the vehicle arm.
Also, waiting this long causes the ESCs to just go missing, not give a
telemetry failure
make sure the SERVO_FWT_MASK is valid:
- it can have bit gaps between active channels, but channels higher than 12 are not allowed (AP_EST_TELEM limitation)
- Explain that the FETtec ESC IDs inside the FETtec Firmware need to be contiguous and start at 1.
add tests for ESC power outages
add test that safety switch zeroes PWM for FETtec ESC
a gap in the beginning of the SERVO_FTW_MASK is now allowed, test it
Co-authored-by: Torsten Z <t.zunker@fettec.net>
Co-authored-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
- uses ArduPilot's coding guidelines and naming conventions
- control motor speed
- Use the AP_ESC_Telem base class to:
- copy ESC telemetry data into MAVLink telemetry
- save ESC telemetry data in dataflash logs
- use RPM telemetry for dynamic notch filter frequencies
- sum the current telemetry info from all ESCs and use it as virtual battery current monitor sensor
- average the voltage telemetry info and use it as virtual battery voltage monitor sensor
- average the temperature telemetry info and use it as virtual battery temperature monitor sensor
- Obey the safety switch. Keeps motors from turning
- Use `SERVO_FWT_MASK` to define which servo output should be routed to FETtec ESCs
- Use `SERVO_FWT_RVMASK` to define the rotation direction of the motors
- `SERVO_FWT_RVMASK` changes only take effect when disarmed
- Can be compiled when `HAL_WITH_ESC_TELEM` is disabled. No telemetry data will be available but it saves a lot of memory
- pre-arm checks:
- Check that UART is available
- check that the desired motor channels parameter (`SERVO_FWT_MASK`) is valid
- check that the desired motor poles parameter (`SERVO_FWT_POLES`) is valid
- check that the all desired ESCs are found and configured
- check that the ESCs are periodically sending telemetry data
- re-init and configure an ESC(s) if not armed (motors not spinning) when
- telemetry communication with the ESC(s) is lost
- adds a serial simulator (--uartF=sim:fetteconewireesc) of FETtec OneWire ESCs
- adds autotest (using the simulator) to:
- simulate telemetry voltage, current, temperature, RPM data using SITL internal variables
- test the safety switch functionality
- test ESC power outages
- test `SERVO_FWT_MASK` parameter validation
- fly a copter over a simulated serial link connection
Andrew Tridgell
李孟晓
Randy Mackay
Andy Piper
Hwurzburg
torsten
Peter Barker
Dr.-Ing. Amilcar do Carmo Lucas
Pierre Kancir