UAVCAN ESC respond to RawCommand duration

(Ali Tlisov) #1

Hi! Im doing tests on the rig with (several) Orel 20 UAVCAN ESC and motors. And see the response for RawCommand has limited duration in time. After a short spin the motor stops. So I have to send the command periodically. I think this is how it is designed. Could you please explain how can I control the duration it spins on receiving a RawCommand until it stops completely?

I did tests both with Pixhawk 3 Pro flight controller on the bus and without with almost the same results.

I’m using a BABEL adapter and Pyuavcan to communicate.

Thanks in advance!

(Pavel Kirienko) #2

Hi Ali,

The setpoint TTL feature is described in the Sapog reference manual, sections 2.2.10 and You can increase the UAVCAN command timeout up to 5 seconds.

This is a safety feature and it cannot be (and should not be) disabled completely (unless you modified the firmware, that is).