dshot: fix clearing out esc status

platforms/nuttx/src/px4/nxp/imxrt/dshot/dshot.c

@@ -440,7 +440,7 @@ void up_dshot_trigger(void)
 	}
 
 	// Calc data now since we're not event driven
-	if(bdshot_recv_mask != 0x0) {
+	if (bdshot_recv_mask != 0x0) {
 		up_bdshot_erpm();
 		bdshot_recv_mask = 0x0;
 	}

platforms/nuttx/src/px4/nxp/imxrt/io_pins/io_timer.c

@@ -424,15 +424,17 @@ static int timer_set_rate(unsigned timer, unsigned rate)
 	int channels = get_timer_channels(timer);
 
 	irqstate_t flags = px4_enter_critical_section();
+
 	for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
 		if ((1 << channel) & channels) {
 			rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
-							;
+							   ;
 			rVAL1(channels_timer(channel), timer_io_channels[channel].sub_module) = (BOARD_PWM_FREQ / rate) - 1;
 			rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
 
 		}
 	}
+
 	px4_leave_critical_section(flags);
 	return 0;
 }
@@ -442,17 +444,19 @@ static inline void io_timer_set_oneshot_mode(unsigned timer)
 	int channels = get_timer_channels(timer);
 
 	irqstate_t flags = px4_enter_critical_section();
+
 	for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
 		if ((1 << channel) & channels) {
 			uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
 			rvalue &= ~SMCTRL_PRSC_MASK;
 			rvalue |= SMCTRL_PRSC_DIV2 | SMCTRL_LDMOD;
 			rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
-							;
+							   ;
 			rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module)  = rvalue;
 			rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
 		}
 	}
+
 	px4_leave_critical_section(flags);
 
 }
@@ -462,17 +466,19 @@ static inline void io_timer_set_PWM_mode(unsigned timer)
 	int channels = get_timer_channels(timer);
 
 	irqstate_t flags = px4_enter_critical_section();
+
 	for (uint32_t channel = 0; channel < DIRECT_PWM_OUTPUT_CHANNELS; ++channel) {
 		if ((1 << channel) & channels) {
 			uint16_t rvalue = rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module);
 			rvalue &= ~(SMCTRL_PRSC_MASK | SMCTRL_LDMOD);
 			rvalue |= SMCTRL_PRSC_DIV16;
 			rMCTRL(channels_timer(channel)) |= (timer_io_channels[channel].sub_module_bits >> MCTRL_LDOK_SHIFT) << MCTRL_CLDOK_SHIFT
-							;
+							   ;
 			rCTRL(channels_timer(channel), timer_io_channels[channel].sub_module)  = rvalue;
 			rMCTRL(channels_timer(channel)) |= timer_io_channels[channel].sub_module_bits;
 		}
 	}
+
 	px4_leave_critical_section(flags);
 }
 
@@ -596,7 +602,7 @@ int io_timer_init_timer(unsigned timer, io_timer_channel_mode_t mode)
 				rDISMAP0(timer, timer_io_channels[chan].sub_module) = 0xf000;
 				rDISMAP1(timer, timer_io_channels[chan].sub_module) = 0xf000;
 				rOUTEN(timer) |= timer_io_channels[chan].val_offset == PWMA_VAL ? OUTEN_PWMA_EN(1 << timer_io_channels[chan].sub_module)
-						: OUTEN_PWMB_EN(1 << timer_io_channels[chan].sub_module);
+						 : OUTEN_PWMB_EN(1 << timer_io_channels[chan].sub_module);
 				rDTSRCSEL(timer) = 0;
 				rMCTRL(timer) = MCTRL_LDOK(1 << timer_io_channels[chan].sub_module);
 				rMCTRL(timer) = timer_io_channels[chan].sub_module_bits;

src/drivers/dshot/DShot.cpp

@@ -253,17 +253,31 @@ int DShot::handle_new_telemetry_data(const int telemetry_index, const DShotTelem
 		esc_status.esc_armed_flags = (1 << esc_status.esc_count) - 1;
 
 		ret = 1; // Indicate we wrapped, so we publish data
-
-		// reset esc data (in case a motor times out, so we won't send stale data)
-		memset(&esc_status.esc, 0, sizeof(_telemetry->esc_status_pub.get().esc));
-		esc_status.esc_online_flags = 0;
 	}
 
 	_telemetry->last_telemetry_index = telemetry_index;
 
 	return ret;
 }
 
+void DShot::publish_esc_status(void)
+{
+	esc_status_s &esc_status = _telemetry->esc_status_pub.get();
+
+	// clear data of the esc that are offline
+	for (uint8_t channel = 0; (channel < _telemetry->last_telemetry_index); channel++) {
+		if ((esc_status.esc_online_flags & (1 << channel)) == 0) {
+			memset(&esc_status.esc[channel], 0, sizeof(struct esc_report_s));
+		}
+	}
+
+	// ESC telem wrap around or bdshot update
+	_telemetry->esc_status_pub.update();
+
+	// reset esc online flags
+	esc_status.esc_online_flags = 0;
+}
+
 int DShot::handle_new_bdshot_erpm(void)
 {
 	int num_erpms = 0;
@@ -279,9 +293,11 @@ int DShot::handle_new_bdshot_erpm(void)
 	for (channel = 0; channel < 8; channel++) {
 		if (up_bdshot_get_erpm(channel, &erpm) == 0) {
 			num_erpms++;
+			esc_status.esc_online_flags |= 1 << channel;
 			esc_status.esc[channel].timestamp = hrt_absolute_time();
 			esc_status.esc[channel].esc_rpm = (erpm * 100) /
 							  (_param_mot_pole_count.get() / 2);
+			esc_status.esc[channel].actuator_function = _telemetry->actuator_functions[channel];
 		}
 
 	}
@@ -521,7 +537,7 @@ void DShot::Run()
 
 		if (need_to_publish > 0) {
 			// ESC telem wrap around or bdshot update
-			_telemetry->esc_status_pub.update();
+			publish_esc_status();
 		}
 	}
 

src/drivers/dshot/DShot.h

@@ -133,6 +133,8 @@ class DShot final : public ModuleBase<DShot>, public OutputModuleInterface
 
 	int handle_new_telemetry_data(const int telemetry_index, const DShotTelemetry::EscData &data);
 
+	void publish_esc_status(void);
+
 	int handle_new_bdshot_erpm(void);
 
 	int request_esc_info();

src/drivers/dshot/DShotTelemetry.cpp

@@ -183,6 +183,9 @@ bool DShotTelemetry::decodeByte(uint8_t byte, bool &successful_decoding)
 				  _latest_data.erpm);
 			++_num_successful_responses;
 			successful_decoding = true;
+
+		} else {
+			++_num_checksum_errors;
 		}
 
 		return true;
@@ -195,6 +198,7 @@ void DShotTelemetry::printStatus() const
 {
 	PX4_INFO("Number of successful ESC frames: %i", _num_successful_responses);
 	PX4_INFO("Number of timeouts: %i", _num_timeouts);
+	PX4_INFO("Number of CRC errors: %i", _num_checksum_errors);
 }
 
 uint8_t DShotTelemetry::updateCrc8(uint8_t crc, uint8_t crc_seed)

src/drivers/dshot/DShotTelemetry.h

@@ -140,4 +140,5 @@ class DShotTelemetry
 	// statistics
 	int _num_timeouts{0};
 	int _num_successful_responses{0};
+	int _num_checksum_errors{0};
 };