Add support for HobbyWing ESC telemetry #22649

peterbarker · 2023-01-13T01:56:44Z

This PR now parses both v3 and v4 protocols.
edit: added support for the XRotor-v4
edit: added support for DataLink devices

Something like this: https://www.dragonrc.com.au/HW-100A-V3-Platinum-series-aircraft-system-p/drc-hw100av3.htm

Reads telemetry data from this ESC and makes it available via ESC telemetry.

Includes simulator for same.

There are some things that we need to discuss:

tridge is uneasy with the new parameters, worried we're going to end up with way too many of them
- he's thinking in the main firmware we have a single parameter, an enumeration of which (single) protocol you want to parse
  - so something like AP_ESC_Telemetry::Protocol::HobbyWingPlatinumProv3, AP_ESC_Telemetry::Protocol::TMotor etc
tridge suggested this go onto the IO thread
- I'm uneasy with that, having looked at what else is on that thread. Given this has to be relatively-real-time, I'm not sure it should share a thread with SD card formatting, parameter-saving and SmartRTL cleanup.
  - perhaps we could have a thread dedicated to telemetry in general (and maybe move blheli to it?)
is the use of the serial timing-constraint code legit?

Board              AP_Periph  blimp  copter  heli  plane  rover  sub
Durandal                      1304   1408    1408  1224   1416   1280
Hitec-Airspeed     0                                             
KakuteH7-bdshot               1216   1264    1272  1240   1248   1216
MatekF405                     0      0       0     0      0      0
Pixhawk1-1M                   0      0       0     0      0      0
f103-QiotekPeriph  0                                             
f303-Universal     0                                             
revo-mini                     0      0       0     0      0      0
skyviper-v2450                       0

libraries/AP_ESC_Telem/AP_ESC_Telem_HobbyWing_Platinum_PRO_v3.cpp

andyp1per

I agree this should not go in the IO thread - too slow.
The configuration needs some thought.
Some stuff should go in the frontend if possible to reduce flash and memory usage.

andyp1per · 2023-01-15T09:37:12Z

libraries/AP_ESC_Telem/AP_ESC_Telem_HobbyWing.cpp

+
+void AP_ESC_Telem_HobbyWing::init()
+{
+    for (uint8_t i=0; i<32 && num_escs<ARRAY_SIZE(escs); i++) {


Shouldn't this be dependent on whether you have support for 32 motors?

Probably :-) But the parameter is always going to be 32-bits regardless of your support for 32-bit, sooo...

andyp1per · 2023-01-15T09:39:26Z

libraries/AP_ESC_Telem/AP_ESC_Telem_HobbyWing.cpp

+    // @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32
+    // @User: Advanced
+    // @RebootRequired: True
+    AP_GROUPINFO("V3_MASK",  2, AP_ESC_Telem_HobbyWing, channel_mask_v3, 0),


Urg, I see what you mean about the parameters. What I was thinking was that we should create a "motor custom configuration" class a bit like Pete's "custom rotation". The custom configuration would have a mask, a pole number and an output type. You could then limit the number of configurations you allow. This would avoid some of the explosion of parameters and make it easier to have mixed types.

I was thinking of adding an enable parameter at the top of this parameter thingy.

I'm a bit worried your proposed solution will need to a cross-product problem.

One option we discussed at SV today was having basic configurations selectable via enumeration values and requiring scripting to configure anything more signficant.

Note that the current situation only allows you to select poles-per-backend-type, so something like the Arace Griffin would need some scripting assistance.

Also note that we kind of expect most people to use a Periph to turn these crappy serial protocols into less-crappy DroneCAN messages, so this configuration won't be applicable to most users. Notable exception being Heli users who I think like using HobbyWing ESCs and they're pretty frugal with their motor counts so don't really need a Periph.

andyp1per · 2023-01-15T09:40:22Z

libraries/AP_ESC_Telem/AP_ESC_Telem_HobbyWing.cpp

+
+    // start a thread to handle the reading from all of those UARTs:
+    if (!hal.scheduler->thread_create(
+            FUNCTOR_BIND_MEMBER(&AP_ESC_Telem_HobbyWing::thread_main, void),


I think this should be at the same priority as BLHeli - whatever that is

Sounds right. Perhaps this should share a thread with blheli?

andyp1per · 2023-01-15T09:40:57Z

libraries/AP_ESC_Telem/AP_ESC_Telem_HobbyWing.h

+    AP_Int32 channel_mask_x4;
+    AP_Int8 motor_poles_x4;
+
+    static const uint8_t MAX_ESCS { 8 };


Yeah, that was a little arbitrary :-)

andyp1per · 2023-01-15T09:42:18Z

libraries/AP_ESC_Telem/AP_ESC_Telem_HobbyWing_Telem.h

+    static const uint8_t MAX_ESCS { 8 };
+
+    AP_HobbyWing_ESC *escs[MAX_ESCS];
+    uint8_t servo_channel[MAX_ESCS];


These should be stored in the front-end surely - you are blowing up the amount of data required.

This is the frontend? We only create one of AP_ESC_Telem_HobbyWing_Telem, in the same way we only have one of the blheli manager thingy created in SRV_Channels.cpp

@andyp1per perhaps you were suggesting we could do without AP_ESC_Telemetry_HobbyWing entirely and put these all of the members into AP_ESC_Telemetry? I could definitely do that, but I would need to change the way the update_telemetry call gets triggered. I emulated the way we've previously done things, by hooking the stuff in SRV_Channels - but I reckon there's a good argument to be made for putting the list-of-ESCs directly into AP_ESC_Telemetry. Not sure how we'd handle the parameters at that point; hanging stuff off SERVO_ is already pretty weird.

(p.s. I dislike AP_ESC_Telemetry_SITL - it keeps on overwriting my perfectly-good HobbyWing telemetry :-/ )

IDK, I prefer not to break encapsulation - but there are also a number of parameters that we are duplicating everywhere. It would be good to at least have a consistent mechanism for that data. If its consistent and common then it could live in the front end

peterbarker · 2023-01-15T20:11:39Z

Closes #10460

peterbarker · 2023-01-16T05:02:05Z

Temperature support fattened things up:

7225.87user 1306.00system 15:54.61elapsed 893%CPU (0avgtext+0avgdata 242640maxresident)k
1355640inputs+16398912outputs (3289major+211601388minor)pagefaults 0swaps
+ column -ts, /tmp/some.csv
Board              AP_Periph  blimp  copter  heli  plane  rover  sub
Durandal                      2408   2512    2520  1344   2504   2464
Hitec-Airspeed     0                                             
KakuteH7-bdshot               2224   2288    2296  2304   2296   2304
MatekF405                     0      0       0     0      0      0
Pixhawk1-1M                   0      0       0     0      0      0
f103-QiotekPeriph  0                                             
f303-Universal     0                                             
revo-mini                     0      0       0     0      0      0
skyviper-v2450                       0

amilcarlucas · 2023-01-18T08:48:38Z

How does this relate to the PR @khancyr is about to do?

khancyr · 2023-01-18T08:56:17Z

it integrate my stuff in it as Peter have more bandwidth to finish it and integrate this into the same Lib !

peterbarker · 2023-01-19T10:34:46Z

@andyp1per per our discussions - I've restructured to use little configuration objects for the motor groups. They're actually much more like @rmackay9 's "EKF source set" things than @IamPete1 's compass stuff.

I've also eliminated that middle-class as I was threatening to do.

peterbarker · 2023-08-25T05:21:14Z

@peterbarker this is great! really needed....really want to put a devcall label on it....but restraining myself

I've force-pushed this. I'll look at this again in September.

amilcarlucas · 2023-09-19T08:47:15Z

@peterbarker do you have the hardware to test this on?

Aldibus · 2023-09-25T16:42:04Z

@amilcarlucas @peterbarker I have the hardware to test this on (HobbyWing Datalink v2) and I'd be more than happy to contribute it his.

Please let me know if I can help in any way...

peterbarker · 2023-09-26T06:36:35Z

@peterbarker do you have the hardware to test this on?

I have some of it, but not the datalink devices

peterbarker · 2023-09-26T06:37:51Z

@amilcarlucas @peterbarker I have the hardware to test this on (HobbyWing Datalink v2) and I'd be more than happy to contribute it his.

Please let me know if I can help in any way...

I'll make sure this branch builds - if I can ship you a binary to test that would be good (better if you can build it yourself, of course :-) )

Hopefully October I can put more time into this...

Aldibus · 2023-10-02T14:39:03Z

@amilcarlucas @peterbarker I have the hardware to test this on (HobbyWing Datalink v2) and I'd be more than happy to contribute it his.
Please let me know if I can help in any way...

I'll make sure this branch builds - if I can ship you a binary to test that would be good (better if you can build it yourself, of course :-) )

Hopefully October I can put more time into this...

@peterbarker I'm surely available to test! Unfortunately I wouldn't be able myself to build the software myself, so it would be far more productive to receive as "plug and play" software as possible 🙏🏻

amilcarlucas · 2023-11-06T09:50:25Z

Now that datalink support has been added in lua to master, I guess some of this PR can be removed.
Has master been tested with T-Moto's datalink?

Would be nice to use the datalink simulator to test the lua script, is that even possible?

khancyr · 2023-11-06T10:53:07Z

I would prefer to still have this . Lua isn't suited for everything

blaw0006 · 2023-11-16T05:27:59Z

Hi @peterbarker

I've merged and compiled the code from your pr, but am still having trouble retrieving rpm data from the escs.

I've set up the CAN nodes as in this tutorial (https://discuss.ardupilot.org/t/using-matekl431-adapters-for-pwm-and-dshot/85781?page=2) and am using the Hobbywing Xrotor 80A. I have uavcan.equipment.esc.RawCommand in the CAN bus monitor, but not the status packets.

I was hoping for some advice on what the issue could be - should the code be working with this esc, and have I just made a mistake somewhere? Or is it just that this particular esc is not yet supported?

Any help would be appreciated :)

not much to test for this driver - we only use RPM

gcianciaruso · 2024-04-10T18:56:48Z

just built this for orange cube plus and I'm still not getting current back on the telem. any ideas?

afonsoVale · 2024-05-01T22:32:56Z

Hi @peterbarker , I'm running a Hobbywing Platinum 40A V4 ESC and have been trying to get its telemetry on a Pixhawk 6C. Tried to compile your branch which was able to do successfully, but after flashing to the autopilot, it looks like it does not initialise properly as communication is lost immediately after going into Initialise flight mode.

Any idea on how I can get this running? Would really like to get the telemetry reading from a single HobbyWing ESC.

peterbarker commented Jan 13, 2023

View reviewed changes

libraries/AP_ESC_Telem/AP_ESC_Telem_HobbyWing_Platinum_PRO_v3.cpp Outdated Show resolved Hide resolved

peterbarker force-pushed the pr/hwing-platinum-v3 branch 4 times, most recently from dce9289 to 8ae0860 Compare January 14, 2023 12:20

peterbarker changed the title ~~Add support for HobbyWing Platinum Pro v3 ESC telemetry~~ Add support for HobbyWing ESC telemetry Jan 14, 2023

peterbarker mentioned this pull request Jan 15, 2023

Copter: add t-motor "Data Link" ESC telemetry support #10460

Open

andyp1per reviewed Jan 15, 2023

View reviewed changes

peterbarker force-pushed the pr/hwing-platinum-v3 branch 2 times, most recently from 3d48e18 to 6d04a82 Compare January 16, 2023 03:44

peterbarker added the DevCallEU label Jan 16, 2023

peterbarker force-pushed the pr/hwing-platinum-v3 branch 5 times, most recently from 6074945 to 063eb0e Compare January 18, 2023 05:58

tridge removed the DevCallEU label Jan 18, 2023

peterbarker force-pushed the pr/hwing-platinum-v3 branch from 063eb0e to 9b2947f Compare January 19, 2023 10:31

peterbarker force-pushed the pr/hwing-platinum-v3 branch 7 times, most recently from f669d36 to 7bf28f2 Compare January 19, 2023 11:48

peterbarker force-pushed the pr/hwing-platinum-v3 branch 2 times, most recently from eb1afaa to 96a9265 Compare August 25, 2023 05:20

peterbarker force-pushed the pr/hwing-platinum-v3 branch from 96a9265 to 794a9ae Compare September 26, 2023 06:34

peterbarker force-pushed the pr/hwing-platinum-v3 branch 2 times, most recently from 60aa4ce to d97681f Compare September 28, 2023 23:10

peterbarker added 13 commits April 3, 2024 11:14

AP_HAL_SITL: add HobbyWing Platinum PRO v3 simulator

286bb2b

SITL: add HobbyWing Platinum PRO v3 simulator

02c69c0

autotest: add test for HobbyWing Platinum Pro v3

253b270

not much to test for this driver - we only use RPM

AP_ESC_Telem: HobbyWing telem support

00d39fb

AP_SerialManager: HobbyWing telem support

d813f6c

AP_ESC_Telem: add support for DataLink devices

d258210

AP_HAL_SITL: add simulator for TMotor DataLink device

3a0ca6a

AP_SerialManager: add support for TMotor DataLink device

88e3662

SITL: add simulator for TMotor DataLink device

1ec5714

autotest: add test for HobbyWing/TMotor DataLink

7226aee

AP_Vehicle: initialise and update esc_telem library

7da5a9f

AP_OSD: tidy function definitions and includes

be5f594

AP_OSD: add strings for hwing protocols

608e2ec

peterbarker force-pushed the pr/hwing-platinum-v3 branch from d97681f to 608e2ec Compare April 3, 2024 00:53

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Add support for HobbyWing ESC telemetry #22649

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Add support for HobbyWing ESC telemetry #22649

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