AP_HAL_QURT: Add support for the ModalAI IO board to support PWM ESCs #28834
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
katzfey
force-pushed
the
pr-qurt-add-io-board-support
branch
from
35d6782 to
be73530
Compare
|
WIP label can be removed. It's complete, tested, and ready to go. |
tridge
reviewed
Dec 15, 2024
|
Yep, in fact there was a bug with ESC feedback before that I just noticed and fixed. It uses the low bit to request feedback. It wasn't being cleared from all 4 ESCs before choosing the one to request and setting that bit. So often multiple requests would be sent at once which would result in no feedback because they share the UART and the feedback packets would collide. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Adding in support for the ModalAI IO board. This can be used to interface to PWM ESCs since the VOXL boards have no PWM capability on their own. This code will attempt to detect whether a ModalAI ESC is attached or the ModalAI IO board. Depending on what it detects it will send the appropriate PWM commands.
This has been flight tested with ModalAI ESC to verify that the original functionality has not been impacted.
This has been bench tested with a ModalAI IO board and 4 PWM ESCs. Can arm and spin up motors. RC throttle will control motor spin speed. Still needs an actual flight test but I think the PR is good to go at this time.