Kotleta20 ESC status update frequency

mickboe · May 12, 2021, 11:09am

Hey!

We have a couple of Kotelta20 CANESCs and I was wondering if it is possible to increase the frequency of the esc.Status message. Based on this post:

it seems like UAVCAN supports the option but when I fetch the parameters for the koteleta it does not show the uavcan.esc_sint parameter.

This makes me wonder whether it i set in the firmware and if so if it is possible to increase the active frequency also to 100Hz

pavel-kirienko · May 12, 2021, 2:57pm

You can increase the frequency by invoking this handler at a higher rate (firmware modification is required):

github.com

PX4/sapog/blob/601f4580b71c3c4da65cc52237e62a163d6a6a16/firmware/src/uavcan_node/esc_controller.cpp#L95-L120


      
          void cb_10Hz(const uavcan::TimerEvent& event)
          {
          	uavcan::equipment::esc::Status msg;
          
          
	msg.esc_index = self_index;
          	msg.rpm = motor_get_rpm();
          	motor_get_input_voltage_current(&msg.voltage, &msg.current);
          	msg.power_rating_pct = static_cast<unsigned>(motor_get_duty_cycle() * 100 + 0.5F);
          	msg.error_count = motor_get_zc_failures_since_start();
          
          
	msg.temperature = float(temperature_sensor::get_temperature_K());
          	if (msg.temperature < 0) {
          		msg.temperature = std::numeric_limits<float>::quiet_NaN();
          	}
          
          
	if (motor_is_idle()) {
          		// Lower the publish rate to 1Hz if the motor is not running
          		static uavcan::MonotonicTime prev_pub_ts;
          		if ((event.scheduled_time - prev_pub_ts).toMSec() >= 990) {
          			prev_pub_ts = event.scheduled_time;

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mickboe · May 17, 2021, 6:08pm

Thanks for the reply! i will try that!