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AP_Periph: add ESC_RATE parameter to RC_OUT peripherals

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Like other vehicles (which use RC_SPEED), ESC_RATE is used to set the
PWM output rate for outputs whose functions are set to MotorN so that
ESCs can be driven at a fast speed (400Hz, same default as aerial
vehicles) while servos still run at normal speed (50Hz, controlled by
OUT_RATE).
This commit is contained in:
Thomas Watson 2024-06-27 18:20:37 -05:00 committed by Andrew Tridgell
parent ef0de65347
commit dc58d0406c
3 changed files with 14 additions and 0 deletions
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9
Tools/AP_Periph/Parameters.cpp
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@ -407,6 +407,15 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
// @Path: ../libraries/SRV_Channel/SRV_Channels.cpp // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
GOBJECT(servo_channels, "OUT", SRV_Channels), GOBJECT(servo_channels, "OUT", SRV_Channels),
// @Param: ESC_RATE
// @DisplayName: ESC Update Rate
// @Description: Rate in Hz that ESC PWM outputs (function is MotorN) will update at
// @Units: Hz
// @Range: 50 400
// @Increment: 1
// @User: Advanced
GSCALAR(esc_rate, "ESC_RATE", 400), // effective Copter and QuadPlane default after clamping
// @Param: ESC_PWM_TYPE // @Param: ESC_PWM_TYPE
// @DisplayName: Output PWM type // @DisplayName: Output PWM type
// @Description: This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output // @Description: This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output

2
Tools/AP_Periph/Parameters.h
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@ -95,6 +95,7 @@ public:
k_param_rangefinder_port1, k_param_rangefinder_port1,
k_param_options, k_param_options,
k_param_rpm_msg_rate, k_param_rpm_msg_rate,
k_param_esc_rate,
}; };
AP_Int16 format_version; AP_Int16 format_version;
@ -174,6 +175,7 @@ public:
#endif #endif
#ifdef HAL_PERIPH_ENABLE_RC_OUT #ifdef HAL_PERIPH_ENABLE_RC_OUT
AP_Int16 esc_rate;
AP_Int8 esc_pwm_type; AP_Int8 esc_pwm_type;
AP_Int16 esc_command_timeout_ms; AP_Int16 esc_command_timeout_ms;
#if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED #if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED

3
Tools/AP_Periph/rc_out.cpp
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@ -67,6 +67,9 @@ void AP_Periph_FW::rcout_init()
hal.rcout->set_dshot_esc_type(SRV_Channels::get_dshot_esc_type()); hal.rcout->set_dshot_esc_type(SRV_Channels::get_dshot_esc_type());
#endif #endif
// run PWM ESCs at configured rate
hal.rcout->set_freq(esc_mask, g.esc_rate.get());
// setup ESCs with the desired PWM type, allowing for DShot // setup ESCs with the desired PWM type, allowing for DShot
SRV_Channels::init(esc_mask, (AP_HAL::RCOutput::output_mode)g.esc_pwm_type.get()); SRV_Channels::init(esc_mask, (AP_HAL::RCOutput::output_mode)g.esc_pwm_type.get());