Commander: checking COM_ARM_CHK_ESCS param for ESCs telemetry

COM_ARM_CHK_ESCS set to 0. The user will need to enable it manually.
PX4 · Apr 21, 2021 · b8f304f · b8f304f
1 parent 263c56c
commit b8f304f
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Showing 2 changed files with 17 additions and 7 deletions.
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
@@ -1961,14 +1961,24 @@ Commander::run()
 			/* ESCs status changed */
 			esc_status_check();
 
-		} else if (hrt_elapsed_time(&_last_esc_status_updated) > 700_ms) {
-			// Some DShot ESCs are unresponsive for ~550ms during their initialization, so we use a timeout higher than that
+		} else if (_param_escs_checks_required.get() != 0) {
 
 			if (!_status_flags.condition_escs_error) {
-				mavlink_log_critical(&_mavlink_log_pub, "ESCs telemetry timeout");
-			}
 
-			_status_flags.condition_escs_error = true;
+				if ((_last_esc_status_updated != 0) && (hrt_elapsed_time(&_last_esc_status_updated) > 700_ms)) {
+					/* Detect timeout after first telemetry packet received
+					 * Some DShot ESCs are unresponsive for ~550ms during their initialization, so we use a timeout higher than that
+					 */
+
+					mavlink_log_critical(&_mavlink_log_pub, "ESCs telemetry timeout");
+					_status_flags.condition_escs_error = true;
+
+				} else if (hrt_elapsed_time(&_last_esc_status_updated) > 5000_ms) {
+					/* Detect if esc telemetry is not connected after reboot */
+					mavlink_log_critical(&_mavlink_log_pub, "ESCs telemetry not connected ");
+					_status_flags.condition_escs_error = true;
+				}
+			}
 		}
 
 		estimator_check();

diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
@@ -904,12 +904,12 @@ PARAM_DEFINE_INT32(COM_FLT_PROFILE, 0);
  * Enable checks on ESCs that report telemetry.
  *
  * If this parameter is set, the system will check ESC's online status and failures.
- * This param is specific for ESCs reporting status. Normal ESCs configurations are not affected by the change of this param.
+ * This param is specific for ESCs reporting status. It shall be used only if ESCs support telemetry.
  *
  * @group Commander
  * @boolean
  */
-PARAM_DEFINE_INT32(COM_ARM_CHK_ESCS, 1);
+PARAM_DEFINE_INT32(COM_ARM_CHK_ESCS, 0);
 
 /**
  * Condition to enter prearmed mode