Copter: improve the reliability of ESC calibration with OneShot ESCs

run at higher rate and make sure we're always giving output

ArduCopter/esc_calibration.cpp

@@ -81,23 +81,31 @@ void Copter::esc_calibration_passthrough()
     // clear esc flag for next time
     g.esc_calibrate.set_and_save(ESCCAL_NONE);
 
-    // reduce update rate to motors to 50Hz
+    if (motors.get_pwm_type() >= AP_Motors::PWM_TYPE_ONESHOT) {
-    motors.set_update_rate(50);
+        // run at full speed for oneshot ESCs (actually done on push)
+        motors.set_update_rate(g.rc_speed);
+    } else {
+        // reduce update rate to motors to 50Hz
+        motors.set_update_rate(50);
+    }
 
     // send message to GCS
     gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Passing pilot throttle to ESCs");
 
+    // arm motors
+    motors.armed(true);
+    motors.enable();
+    
     while(1) {
-        // arm motors
-        motors.armed(true);
-        motors.enable();
-
         // flash LEDS
         AP_Notify::flags.esc_calibration = true;
 
         // read pilot input
         read_radio();
-        delay(10);
+
+        // we run at high rate do make oneshot ESCs happy. Normal ESCs
+        // will only see pulses at the RC_SPEED
+        delay(3);
 
         // pass through to motors
         motors.set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() / 1000.0f);
@@ -111,8 +119,13 @@ void Copter::esc_calibration_auto()
 #if FRAME_CONFIG != HELI_FRAME
     bool printed_msg = false;
 
-    // reduce update rate to motors to 50Hz
+    if (motors.get_pwm_type() >= AP_Motors::PWM_TYPE_ONESHOT) {
-    motors.set_update_rate(50);
+        // run at full speed for oneshot ESCs (actually done on push)
+        motors.set_update_rate(g.rc_speed);
+    } else {
+        // reduce update rate to motors to 50Hz
+        motors.set_update_rate(50);
+    }
 
     // send message to GCS
     gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Auto calibration");
@@ -126,7 +139,6 @@ void Copter::esc_calibration_auto()
 
     // raise throttle to maximum
     delay(10);
-    motors.set_throttle_passthrough_for_esc_calibration(1.0f);
 
     // wait for safety switch to be pressed
     while (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
@@ -134,11 +146,16 @@ void Copter::esc_calibration_auto()
             gcs_send_text(MAV_SEVERITY_INFO,"ESC calibration: Push safety switch");
             printed_msg = true;
         }
-        delay(10);
+        motors.set_throttle_passthrough_for_esc_calibration(1.0f);
+        delay(3);
     }
 
-    // delay for 5 seconds
+    // delay for 5 seconds while outputting pulses
-    delay(5000);
+    uint32_t tstart = millis();
+    while (millis() - tstart < 5000) {
+        motors.set_throttle_passthrough_for_esc_calibration(1.0f);
+        delay(3);
+    }
 
     // reduce throttle to minimum
     motors.set_throttle_passthrough_for_esc_calibration(0.0f);
@@ -147,6 +164,9 @@ void Copter::esc_calibration_auto()
     g.esc_calibrate.set_and_save(ESCCAL_NONE);
 
     // block until we restart
-    while(1) { delay(5); }
+    while(1) {
+        delay(3);
+        motors.set_throttle_passthrough_for_esc_calibration(0.0f);
+    }
 #endif // FRAME_CONFIG != HELI_FRAME
 }