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AP_Periph: Adds a parameter to allow for user configurable timeout 

Timeout defaults to 200ms. Timeout can be disabled by setting parameter to 0. Timeout should be configured to be able to handle at small number of missed packets.
This commit is contained in:
James O'Shannessy 2022-12-01 21:31:22 +11:00 committed by Andrew Tridgell
parent 4679cb4265
commit 11ab5e3f3d
3 changed files with 13 additions and 2 deletions
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8
Tools/AP_Periph/Parameters.cpp
View File

@ -373,6 +373,14 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
// @RebootRequired: True
GSCALAR(esc_pwm_type, "ESC_PWM_TYPE", 0),
// @Param: ESC_CMD_TIMO
// @DisplayName: ESC Command Timeout
// @Description: This is the duration (ms) with which to hold the last driven ESC command before timing out and zeroing the ESC outputs. To disable zeroing of outputs in event of CAN loss, use 0. Use values greater than the expected duration between two CAN frames to ensure Periph is not starved of ESC Raw Commands.
// @Range: 0 10000
// @Units: ms
// @User: Advanced
GSCALAR(esc_command_timeout_ms, "ESC_CMD_TIMO", 200),
#if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED
// @Param: ESC_TELEM_PORT
// @DisplayName: ESC Telemetry Serial Port

2
Tools/AP_Periph/Parameters.h
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@ -62,6 +62,7 @@ public:
k_param_esc_telem_rate,
k_param_can_slcan_cport,
k_param_temperature_sensor,
k_param_esc_command_timeout_ms,
};
AP_Int16 format_version;
@ -122,6 +123,7 @@ public:
#ifdef HAL_PERIPH_ENABLE_RC_OUT
AP_Int8 esc_pwm_type;
AP_Int16 esc_command_timeout_ms;
#if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED
AP_Int8 esc_telem_port;
#endif

5
Tools/AP_Periph/rc_out.cpp
View File

@ -127,8 +127,9 @@ void AP_Periph_FW::rcout_handle_safety_state(uint8_t safety_state)
void AP_Periph_FW::rcout_update()
{
uint32_t now_ms = AP_HAL::millis();
const uint16_t esc_timeout_ms = 100U;
const bool has_esc_rawcommand_timed_out = (now_ms - last_esc_raw_command_ms) >= esc_timeout_ms;
const uint16_t esc_timeout_ms = g.esc_command_timeout_ms >= 0 ? g.esc_command_timeout_ms : 0; // Don't allow negative timeouts!
const bool has_esc_rawcommand_timed_out = esc_timeout_ms != 0 && ((now_ms - last_esc_raw_command_ms) >= esc_timeout_ms);
if (last_esc_num_channels > 0 && has_esc_rawcommand_timed_out) {
// If we've seen ESCs previously, and a timeout has occurred, then zero the outputs
int16_t esc_output[last_esc_num_channels] {};