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voxl_esc: Add VOXL_ESC_T_ON param for MAVLink turtle mode button mapping

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Add a new parameter to map a MAVLink MANUAL_CONTROL button to turtle
mode activation. When the manual control data source is a MAVLink
instance, the driver uses the buttons field directly instead of aux
channels. When the source is RC, the existing aux channel behavior
via VOXL_ESC_MODE is preserved. Set to -1 (default) to disable.
This commit is contained in:
Eric Katzfey 2026-03-01 11:43:31 -07:00 committed by Eric Katzfey
parent cdacb01f55
commit 6fd3c88bb0
3 changed files with 45 additions and 11 deletions
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37
src/drivers/actuators/voxl_esc/voxl_esc.cpp
View File

@ -291,6 +291,7 @@ int VoxlEsc::load_params(voxl_esc_params_t *params, ch_assign_t *map)
param_get(param_find("VOXL_ESC_T_EXPO"), &params->turtle_motor_expo);
param_get(param_find("VOXL_ESC_T_MINF"), &params->turtle_stick_minf);
param_get(param_find("VOXL_ESC_T_COSP"), &params->turtle_cosphi);
param_get(param_find("VOXL_ESC_T_ON"), &params->turtle_button_on);
param_get(param_find("VOXL_ESC_FUNC1"), &params->function_map[0]);
param_get(param_find("VOXL_ESC_FUNC2"), &params->function_map[1]);
@ -363,6 +364,12 @@ int VoxlEsc::load_params(voxl_esc_params_t *params, ch_assign_t *map)
ret = PX4_ERROR;
}
if (params->turtle_button_on < -1 || params->turtle_button_on > 15) {
PX4_ERR("Invalid parameter VOXL_ESC_T_ON. Please verify parameters.");
params->turtle_button_on = -1;
ret = PX4_ERROR;
}
if (params->gpio_ctl_channel < 0 || params->gpio_ctl_channel > 6) {
PX4_ERR("Invalid parameter VOXL_ESC_GPIO_CH. Please verify parameters.");
params->gpio_ctl_channel = 0;
@ -1495,21 +1502,28 @@ void VoxlEsc::Run()
if (!_outputs_on) {
float setpoint = VOXL_ESC_MODE_DISABLED_SETPOINT;
bool activate = false;
if (_parameters.mode == VOXL_ESC_MODE_TURTLE_AUX1) {
setpoint = _manual_control_setpoint.aux1;
if (_manual_control_setpoint.data_source >= manual_control_setpoint_s::SOURCE_MAVLINK_0
&& _parameters.turtle_button_on >= 0) {
// MAVLink source: use buttons field directly
activate = (_manual_control_setpoint.buttons & (1 << _parameters.turtle_button_on)) != 0;
} else if (_parameters.mode == VOXL_ESC_MODE_TURTLE_AUX2) {
setpoint = _manual_control_setpoint.aux2;
} else if (_manual_control_setpoint.data_source == manual_control_setpoint_s::SOURCE_RC) {
// RC source: use aux channel as before
float setpoint = VOXL_ESC_MODE_DISABLED_SETPOINT;
if (_parameters.mode == VOXL_ESC_MODE_TURTLE_AUX1) {
setpoint = _manual_control_setpoint.aux1;
} else if (_parameters.mode == VOXL_ESC_MODE_TURTLE_AUX2) {
setpoint = _manual_control_setpoint.aux2;
}
activate = (setpoint > VOXL_ESC_MODE_THRESHOLD);
}
if (setpoint > VOXL_ESC_MODE_THRESHOLD) {
_turtle_mode_en = true;
} else {
_turtle_mode_en = false;
}
_turtle_mode_en = activate;
}
}
@ -1698,6 +1712,7 @@ void VoxlEsc::print_params()
PX4_INFO("Params: VOXL_ESC_T_EXPO: %" PRId32, _parameters.turtle_motor_expo);
PX4_INFO("Params: VOXL_ESC_T_MINF: %f", (double)_parameters.turtle_stick_minf);
PX4_INFO("Params: VOXL_ESC_T_COSP: %f", (double)_parameters.turtle_cosphi);
PX4_INFO("Params: VOXL_ESC_T_ON: %" PRId32, _parameters.turtle_button_on);
PX4_INFO("Params: VOXL_ESC_VLOG: %" PRId32, _parameters.verbose_logging);
PX4_INFO("Params: VOXL_ESC_PUB_BST: %" PRId32, _parameters.publish_battery_status);

1
src/drivers/actuators/voxl_esc/voxl_esc.hpp
View File

@ -176,6 +176,7 @@ private:
int32_t esc_over_temp_threshold{0};
int32_t gpio_ctl_channel{0};
int32_t cmd_type{0};
int32_t turtle_button_on{-1};
} voxl_esc_params_t;
struct EscChan {

18
src/drivers/actuators/voxl_esc/voxl_esc_params.c
View File

@ -204,6 +204,24 @@ PARAM_DEFINE_INT32(VOXL_ESC_T_EXPO, 35);
*/
PARAM_DEFINE_FLOAT(VOXL_ESC_T_COSP, 0.990);
/**
* UART ESC Turtle Mode button index for MAVLink manual control
*
* Specifies which button in the MAVLink MANUAL_CONTROL buttons field
* activates turtle mode. Only used when data source is a MAVLink instance.
* When data source is RC, turtle mode activation uses the AUX channel
* selected by VOXL_ESC_MODE instead.
* Set to -1 to disable turtle mode activation via MAVLink buttons.
*
* @reboot_required true
*
* @group VOXL ESC
* @value -1 Disabled
* @min -1
* @max 15
*/
PARAM_DEFINE_INT32(VOXL_ESC_T_ON, -1);
/**
* UART ESC verbose logging
*