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DroneCAN: fix dangerous bug for twin-motor Planes #27610

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merged 3 commits into from
Sep 16, 2024
Merged

DroneCAN: fix dangerous bug for twin-motor Planes #27610

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ab24e7e
AP_DroneCAN: prevent invalid numbers spinning ESCs
robertlong13 Jul 22, 2024
97ee835
Plane: try left/right throttle to init ESC scaling
robertlong13 Jul 22, 2024
3534d3a
RCOutput: initialize _esc_pwm_min and _esc_pwm_max
robertlong13 Aug 5, 2024
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2 changes: 2 additions & 0 deletions ArduPlane/radio.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,8 @@ void Plane::set_control_channels(void)
// setup correct scaling for ESCs like the UAVCAN ESCs which
// take a proportion of speed. For quadplanes we use AP_Motors
// scaling
g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttleLeft);
g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttleRight);
g2.servo_channels.set_esc_scaling_for(SRV_Channel::k_throttle);
}
}
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13 changes: 8 additions & 5 deletions libraries/AP_DroneCAN/AP_DroneCAN.cpp
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Expand Up @@ -709,14 +709,17 @@ void AP_DroneCAN::handle_node_info_request(const CanardRxTransfer& transfer, con

int16_t AP_DroneCAN::scale_esc_output(uint8_t idx){
static const int16_t cmd_max = ((1<<13)-1);
float scaled = 0;

float scaled = hal.rcout->scale_esc_to_unity(_SRV_conf[idx].pulse);
// Prevent invalid values (from misconfigured scaling parameters) from sending non-zero commands
if (!isfinite(scaled)) {
return 0;
}
scaled = constrain_float(scaled, -1, 1);
//Check if this channel has a reversible ESC. If it does, we can send negative commands.
if ((((uint32_t) 1) << idx) & _esc_rv) {
scaled = cmd_max * (hal.rcout->scale_esc_to_unity(_SRV_conf[idx].pulse));
scaled *= cmd_max;
} else {
scaled = cmd_max * (hal.rcout->scale_esc_to_unity(_SRV_conf[idx].pulse) + 1.0) / 2.0;
scaled = constrain_float(scaled, 0, cmd_max);
scaled = cmd_max * (scaled + 1.0) / 2.0;
}

return static_cast<int16_t>(scaled);
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4 changes: 2 additions & 2 deletions libraries/AP_HAL/RCOutput.h
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Expand Up @@ -422,6 +422,6 @@ class AP_HAL::RCOutput {
void append_to_banner(char banner_msg[], uint8_t banner_msg_len, output_mode out_mode, uint8_t low_ch, uint8_t high_ch) const;
const char* get_output_mode_string(enum output_mode out_mode) const;

uint16_t _esc_pwm_min;
uint16_t _esc_pwm_max;
uint16_t _esc_pwm_min = 1000;
uint16_t _esc_pwm_max = 2000;
};
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