Co-authored-by: Torsten Z <t.zunker@fettec.net>
Co-authored-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
- uses ArduPilot's coding guidelines and naming conventions
- control motor speed
- Use the AP_ESC_Telem base class to:
- copy ESC telemetry data into MAVLink telemetry
- save ESC telemetry data in dataflash logs
- use RPM telemetry for dynamic notch filter frequencies
- sum the current telemetry info from all ESCs and use it as virtual battery current monitor sensor
- average the voltage telemetry info and use it as virtual battery voltage monitor sensor
- average the temperature telemetry info and use it as virtual battery temperature monitor sensor
- Obey the safety switch. Keeps motors from turning
- Use `SERVO_FWT_MASK` to define which servo output should be routed to FETtec ESCs
- Use `SERVO_FWT_RVMASK` to define the rotation direction of the motors
- `SERVO_FWT_RVMASK` changes only take effect when disarmed
- Can be compiled when `HAL_WITH_ESC_TELEM` is disabled. No telemetry data will be available but it saves a lot of memory
- pre-arm checks:
- Check that UART is available
- check that the desired motor channels parameter (`SERVO_FWT_MASK`) is valid
- check that the desired motor poles parameter (`SERVO_FWT_POLES`) is valid
- check that the all desired ESCs are found and configured
- check that the ESCs are periodically sending telemetry data
- re-init and configure an ESC(s) if not armed (motors not spinning) when
- telemetry communication with the ESC(s) is lost
- adds a serial simulator (--uartF=sim:fetteconewireesc) of FETtec OneWire ESCs
- adds autotest (using the simulator) to:
- simulate telemetry voltage, current, temperature, RPM data using SITL internal variables
- test the safety switch functionality
- test ESC power outages
- test `SERVO_FWT_MASK` parameter validation
- fly a copter over a simulated serial link connection
torsten
Dr.-Ing. Amilcar do Carmo Lucas