zr-v4

48632 Commits

10 Branches

0 Tags

227 MiB

Branch: zr-v5.0

Commit Graph

Author	SHA1	Message	Date
Torsten Z	b4f4ad7c01	AP_FETtecOneWire: A serial-based ESC protocol with telemetry 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	3 years ago

Author

SHA1

Message

Date

Torsten Z

b4f4ad7c01

AP_FETtecOneWire: A serial-based ESC protocol with telemetry

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

3 years ago

1 Commits (zr-v5.0)