Add Support for DroneCAN Status Extended Message #23896
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…tatus extended message
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You need to use Instead remove the msg that is just an array and create a publication multi handle member var. Don't use a member var for the status data. |
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| uint8 CONNECTED_ESC_MAX = 8 # The number of ESCs supported. To be consistent with ESC Status, limit it to 8. | ||
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| DronecanEscStatusExtendedData[8] extended_esc_status_data # An array of up to CONNECTED_ESC_MAX DronecanEscStatusExtendedData instances |
| int16 motor_temperature_deg_c # Temperature of connected motor, in Celsius. Range is -256 to +255 C. | ||
| uint16 motor_angle # Measured angle of connected angle sensor, in degrees. Range is 0 to 360. | ||
| uint32 status_flags # Manufacturer-specific status flags currently active. | ||
| uint8 esc_index # Index of currently reporting ESC. |
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rename DronecanEscStatusExtended.msg
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| uORB::PublicationMulti<esc_status_s> _esc_status_pub{ORB_ID(esc_status)}; | ||
| uORB::Publication<dronecan_esc_status_extended_s> _status_extended_pub{ORB_ID(dronecan_esc_status_extended)}; |
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change to PublicationMulti
| @@ -59,6 +59,7 @@ void LoggedTopics::add_default_topics() | |||
| add_topic("config_overrides"); | |||
| add_topic("cpuload"); | |||
| add_topic("distance_sensor_mode_change_request"); | |||
| add_optional_topic("dronecan_esc_status_extended", 250); | |||
| typedef uavcan::MethodBinder<UavcanEscController *, | ||
| void (UavcanEscController::*)(const uavcan::TimerEvent &)> TimerCbBinder; | ||
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| esc_status_s _esc_status{}; | ||
| dronecan_esc_status_extended_s _status_extended{}; |
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also maybe add to the high_rate set in logged_topics.cpp |
Ah, got it, sorry! I had understood the PublicationMulti as, "There are multiple modules in PX4 who are going to be publishing to this topic," and not necessarily multiple devices that need their own publishers. I think I was just confusing myself by thinking that you might want DSHOT telemetry as well as DroneCAN telemetry at the same time, so you'd have 2 ESC Status reporters. Regardless, I get it now, and will make those changes! |
This is the Status Extended portion of a prior PR discussed with @dakejahl here #23882. He has handled the Node Status portion in his own PR here: #23890.
Attached is a log where you can see the ESC Status Extended logging.
log_1_2024-11-5-10-08-06.zip
Here's a quick snapshot of the input/output throttle percentages from 3 attached ESCs. One motor is configured purposefully so that the input and output throttles should not match.
