Higher Feedback Update Rate on Sapog

Error-Rak · February 2, 2022, 11:56am

Hi,

I would like to ask if is possible to get the RPM feedback from Sapog at higher rates (at least 1KHz). I am using Kotleta20 by Holybro through PyUAVCAN_v0.

Regards,

pavel-kirienko · February 6, 2022, 1:22pm

1 kHz might be a problem for bandwidth reasons but you should be able to increase the publishing rate at least somewhat. You can do this by changing this constant here:

github.com

PX4/sapog/blob/601f4580b71c3c4da65cc52237e62a163d6a6a16/firmware/src/uavcan_node/esc_controller.cpp#L153


      
          		return res;
          	}
          
          
	pub_status = new uavcan::Publisher<uavcan::equipment::esc::Status>(node);
          	res = pub_status->init();
          	if (res != 0) {
          		return res;
          	}
          
          
	timer_10hz.setCallback(&cb_10Hz);
          	timer_10hz.startPeriodic(uavcan::MonotonicDuration::fromMSec(100));
          
          
	return 0;
          }
          
          
}

Currently it is not possible to change this without recompiling the firmware.

Error-Rak · February 9, 2022, 7:28am

Thanks @pavel-kirienko for your reply!

Does this means I have to build the firmware again and flash it the ESC?

Also, I would like to know if the ESC actually support higher feedback rate in the binary format and the possibility to use that later on

pavel-kirienko · February 9, 2022, 11:29am

Yes.

Sorry, I don’t think I understand the question. What binary format are you referring to?

local_ad · February 11, 2022, 12:35pm

Error-Rak Hey I am in the process of getting Kotleta ESC and was wondering if you had a blog or post elsewhere detailing your build components and process