feature: Add support for Hobbywing ESC #26137
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dakejahl
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dakejahl
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Can you break this out into its own file to keep a clean separation. You can check the UAVCAN_ESC_TYPE in uavcan_main.cpp. Also put it behind a KConfig option so we can selectively enable it (default to enabled).
Yes, okay, let me know what is the right way and how you want me to do it correctly,When creating my module, I received a duplicate esc_status. Explain how to do it correctly and I will do it without any problems. I have two types of motors, Hobbywing X6 and X9, to actually use them. And what do you think about checking the subscription to all types of messages? |
dakejahl
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dakejahl
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Can you provide a link to the HobbyWing DroneCAN spec? It's not clear to me how we determine the esc_index from these messages.
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| uint8_t _rotor_count{0}; | ||
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| int32_t _esc_type; |
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| int32_t _esc_type; | |
| EscInterfaceType _esc_type {}; |
Let's make this an enum
| UavcanEscController::esc_status_msg2_cb(const uavcan::ReceivedDataStructure<com::hobbywing::esc::StatusMsg2> &msg) | ||
| { | ||
| if (msg.getSrcNodeID().get() < esc_status_s::CONNECTED_ESC_MAX) { | ||
| auto &ref = _esc_status.esc[msg.getSrcNodeID().get() - 1]; |
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This won't work. The esc_status_s.esc is length 8. Node ID's are typically in the 120s.
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Yes, I set ESC#1 NodeID = 1, ESC#2 NodeID = 2. If there is a better solution, I will be happy to consider it.
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The ESCs must report from which ESC the data is originating, otherwise mapping to the array correctly is impossible. Let's see what the Hobbywing spec sheet tells us
| ref.esc_address = msg.getSrcNodeID().get(); | ||
| ref.esc_voltage = msg.input_voltage / 10; | ||
| ref.esc_current = msg.current; | ||
| ref.esc_temperature = (float)msg.temperature / 100; // In the Mavlink system, the temperature is multiplied by 100. |
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| ref.esc_temperature = (float)msg.temperature / 100; // In the Mavlink system, the temperature is multiplied by 100. | |
| ref.esc_temperature = msg.temperature |
Both of these fields are degC. Please re-review the message definitions.
| _esc_status.counter += 1; | ||
| _esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_CAN; | ||
| _esc_status.esc_online_flags = check_escs_status(); | ||
| _esc_status.esc_armed_flags = (1 << _rotor_count) - 1; |
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armed status can't be known? It's not encoded in StatusMsg1.status?
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I'm waiting for a response from Hobbywing support. I don't have a hobbywing message specification
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| uint8_t _rotor_count{0}; | ||
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| int32_t _esc_type; |
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| int32_t _esc_type; | |
| EscInterfaceType _esc_type {}; |
Let's make this an enum
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I only added controls and display to QGC |
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FWIW when this goes in consider an update to ESC docs. At least the table in https://docs.px4.io/main/en/peripherals/esc_motors#supported-esc |
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Summary
Add support for Hobbywing ESC control via UAVCAN with configurable ESC type parameter
Problem Description
Currently, PX4 lacks support for Hobbywing ESCs in UAVCAN ESC control configuration. Issue #24176 identifies the need for adding this ESC type to expand UAVCAN ESC compatibility.