AP_PiccoloCAN: Allow ESCs to listen to fixed wing throttle channel #28466
+9
−1
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
peterbarker
reviewed
Oct 26, 2024
| @@ -670,7 +678,7 @@ bool AP_PiccoloCAN::is_esc_channel_active(uint8_t chan) | |||
| // Check if a motor function is assigned for this motor channel | |||
| SRV_Channel::Aux_servo_function_t motor_function = SRV_Channels::get_motor_function(chan); | |||
|
|
|||
| if (SRV_Channels::function_assigned(motor_function)) { | |||
| if (SRV_Channels::function_assigned(motor_function) || SRV_Channels::channel_function(chan) == SRV_Channel::k_throttle) { | |||
There was a problem hiding this comment.
Should have k_throttleLeft and k_throttleRight here too.
There was a problem hiding this comment.
This has been run up on an aircraft with a Currawong velocity ESC, but not yet flown. I'll make changes to include the left and right throttle functions as well
| SRV_Channels::get_output_pwm(SRV_Channel::k_throttle, output); | ||
| _escs[ii].command = output; | ||
| _escs[ii].newCommand = true; | ||
| break; |
There was a problem hiding this comment.
Suggested change
| break; | |
| continue; |
| @@ -344,6 +344,14 @@ void AP_PiccoloCAN::update() | |||
| if (is_esc_channel_active(ii)) { | |||
|
|
|||
| uint16_t output = 0; | |||
|
|
|||
| if (SRV_Channels::channel_function(ii) == SRV_Channel::k_throttle) { | |||
There was a problem hiding this comment.
This will conflict with the ECU mapping below: https://github.com/ArduPilot/ardupilot/pull/28466/files#diff-c699548ddb0422e17ef8a505c29a96e536c9a3867856f18b0d82290c907cd129R367
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Probably not the best way of implementing it, but seems Currawong/Piccolocan ESCs can only be driven by servo outputs with motor functions, i.e. copter and quadplane motors. This patch allows the typical fixed wing forward throttle channel to be used as well.