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AP_FETtecOneWire : correct comment spelling

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Ruffalo-sunghwan 2022-05-23 13:51:49 +09:00 committed by Randy Mackay
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commit 746e85740f
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libraries/AP_FETtecOneWire/README.md
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@ -104,7 +104,7 @@ Four ESCs need 90us for the fast-throttle request and telemetry reception. With
Each additional ESC adds 11 extra fast-throttle command bits, so the update rate is lowered by each additional ESC. Each additional ESC adds 11 extra fast-throttle command bits, so the update rate is lowered by each additional ESC.
If you use 8 ESCs, it needs 160us including telemetry response, so 5.8kHz update rate would be possible. If you use 8 ESCs, it needs 160us including telemetry response, so 5.8kHz update rate would be possible.
The FETtec ArduPilot device driver limits the message transmit period to `_min_fast_throttle_period_us` according to the number of ESCs used. The FETtec ArduPilot device driver limits the message transmit period to `_min_fast_throttle_period_us` according to the number of ESCs used.
The update() function has an extra invocation period limit so that even at very high loop rates the the ESCs will still operate correctly albeit doing some decimation. The update() function has an extra invocation period limit so that even at very high loop rates the ESCs will still operate correctly albeit doing some decimation.
The current update rate for Copter is 400Hz (~2500us) and for other vehicles is 50Hz (~20000us) so we are bellow device driver limit. The current update rate for Copter is 400Hz (~2500us) and for other vehicles is 50Hz (~20000us) so we are bellow device driver limit.
**Note:** The FETtec ESCs firmware requires at least a 4Hz fast-throttle update rate (max. 250ms between messages) otherwise the FETtec ESC disarm (stop) the motors. **Note:** The FETtec ESCs firmware requires at least a 4Hz fast-throttle update rate (max. 250ms between messages) otherwise the FETtec ESC disarm (stop) the motors.