Myxa CAN Logging Issues

Support Telega electric propulsion
1

Hi, I have been experiencing some weird logging behavior with myxa escs. Currently I am running 2, and will eventually be running 6 at once along with 12 other servos on the CAN bus from ardupilot.

I have been seeing intermittent logging, with data from escs seeming to cut in arbitrarily. Attached are 2 ardupilot logs. In the “throttle setpoint test”, ESC 6 begins logging about halfway through the test. In the “throttle ramp test” ESC 5 produces bogus/nonexistent data the whole time. Nothing changed in the configuration between these 2 tests. Why is the logging so unreliable?

throttle ramp test.bin (1.9 MB) throttle setpoint tests.bin (8.9 MB)

Note that ESC 5 and 6 in the log are actually 6 and 7, respectively in ardupilot software and the attached config files.

config6.yml (2.1 KB) config7.yml (2.1 KB)

In addition to the intermittent logging, I would also like to get higher frequency RPM data. Currently, I am only getting about 10hz and would like at least 50. I changed the uavcan.esc_sint parameter for faster logging but saw no change. How can I get higher frequency for my system identification task?

Thank you for any assistance,
Jack

2

It is better to ask the ArduPilot team. Myxa merely publishes its data to the bus, then it is up to the flight controller (or whatever other unit) to process and/or log that. You can verify that the data is published at the correct rate using the UAVCAN/DroneCAN GUI Tool.

The change takes effect after a reboot.

3

I don’t think this is an ardupilot problem. I always have very reliable logging of Servo position from the can bus, but not for the ESCs.

I have certainly rebooted the ESC in between tests, the parameter change took no effect.

4

This could be also caused by packet loss on the bus. Check the error counters in the transport statistics on your nodes.