dshot: add telemetry and publish esc_status message

2026-10-23 10:43:33 +08:00 · 2019-10-11 08:14:17 +02:00
parent d44302c03b
commit 65f3c7f93d
8 changed files with 552 additions and 36 deletions
@@ -0,0 +1,54 @@
+module_name: DShot Driver
+serial_config:
+    - command: dshot telemetry ${SERIAL_DEV}
+      port_config_param:
+        name: DSHOT_TEL_CFG
+        group: DShot
+
+parameters:
+    - group: DShot
+      definitions:
+        DSHOT_CONFIG:
+            description:
+                short: Configure DShot
+                long: |
+                    This enables/disables DShot. The different modes define different
+                    speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes.
+                    
+                    Note: this enables DShot on the FMU outputs. For boards with an IO it is the
+                    AUX outputs.
+            type: enum
+            values:
+                0: Disable (use PWM/Oneshot)
+                150: DShot150
+                300: DShot300
+                600: DShot600
+                1200: DShot1200
+            reboot_required: true
+            default: 0
+        DSHOT_MIN:
+            description:
+                short: Minimum DShot Motor Output
+                long: |
+                    Minimum Output Value for DShot in percent. The value depends on the ESC. Make
+                    sure to set this high enough so that the motors are always spinning while
+                    armed.
+            type: float
+            unit: '%'
+            min: 0
+            max: 1
+            decimal: 2
+            increment: 0.01
+            default: 0.055
+        MOT_POLE_COUNT: # only used by dshot so far, so keep it under the dshot group
+            description:
+                short: Number of magnetic poles of the motors
+                long: |
+                    Specify the number of magnetic poles of the motors.
+                    It is required to compute the RPM value from the eRPM returned with the ESC telemetry.
+
+                    Either get the number from the motor spec sheet or count the magnets on the bell of the motor (not the stator magnets).
+                    Typical motors for 5 inch props have 14 poles.
+            type: int32
+            default: 14
+