Maximum numbers of connected ESCs in uORB and in UAVCAN expanded to 16. #12277
Conversation
irsdkv
changed the title
irsdkv
force-pushed
the
pr-16_esc_over_uavcan
branch
3 times, most recently
from
2e113ef to
72487ce
Compare
|
One minor concern is the size of I'd love to see a log if you're able to share it (logs.px4.io). |
| // but this driver could well serve multiple groups. | ||
| unsigned num_outputs_max = 8; | ||
| unsigned num_outputs_max = ( |
There was a problem hiding this comment.
You are right. I'm not sure about the need for this check.
Perhaps the best solution would be to assign the constant value 16 (esc_status_s::CONNECTED_ESC_MAX).
But, on the other hand, I did not want to bind to a constant, which in the distant future could still change.
If you think that the constant value would be better, I will be glad to change this check to constant value.
There was a problem hiding this comment.
I think that the constexpr specifier solve all problems with CPU load and this check (CONNECTED_ESC_MAX constant presence) will be useful for further changes safety.
Maximum numbers of connected ESCs in uORB and in UAVCAN expanded to 16.
irsdkv
force-pushed
the
pr-16_esc_over_uavcan
branch
from
72487ce to
c18c9d0
Compare
Sure! We will provide the logs next week. |
|
@irsdkv Could you please share the logs? |
Sorry for delay! Our pilot is on vacation now. We will provide logs as fast as we can. I suppose that logs will be available at the beginning of July. |
|
This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions. |
|
This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
|
What's the status here? @irsdkv is this still something you would like to get in or should it be closed? |
|
I would like to get it, but we still have not pilot and unfortunately at this time we can't provide the logs. Arch was changed after creating this PR so I think we should close it. I will create new request when we will ready. |
Describe problem solved by the proposed pull request
At this time maximum number of supported ESC is 8.
This restriction does not meet modern requirements.
For example, some VTOLs could have 8 motors for MC mode and one or more push/pull motors for FW mode.
Test data / coverage
It was tested on real VTOL with 8 MC motors and one push FW motor (with Pixhawk 4 onboard).
The flying plan included MC mode and FW mode.
The flight went well, without any lags or problems.
Describe your preferred solution
Increase maximum number of connected ESC in uORB messages and in UAVCAN ESC driver.
Additional context
This PR also associated with this task as it allow to use VTOL copters with more than 8 motors in simulator.