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dshot: replace MOT_POLE_COUNT with per-motor parameters DSHOT_MOT_POL

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This commit is contained in:
Jacob Dahl 2026-02-10 17:19:32 -09:00
parent e5068e1f1d
commit 789bdbd346
3 changed files with 46 additions and 11 deletions
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36
src/drivers/dshot/DShot.cpp
View File

@ -618,7 +618,7 @@ bool DShot::process_bdshot_telemetry()
} else {
// Use previous value (esc_status is indexed by motor_index)
esc.erpm = _esc_status.esc[motor_index].esc_rpm * (_param_mot_pole_count.get() / 2);
esc.erpm = _esc_status.esc[motor_index].esc_rpm * (get_pole_count(motor_index) / 2);
}
// Extended DShot Telemetry
@ -698,7 +698,7 @@ void DShot::consume_esc_data(const EscData &esc, TelemetrySource source)
// Only use SerialTelemetry eRPM when BDShot is disabled
if (!is_bdshot) {
_esc_status.esc[motor_index].timestamp = esc.timestamp;
_esc_status.esc[motor_index].esc_rpm = esc.erpm / (_param_mot_pole_count.get() / 2);
_esc_status.esc[motor_index].esc_rpm = esc.erpm / (get_pole_count(motor_index) / 2);
}
_esc_status.esc[motor_index].esc_voltage = esc.voltage;
@ -707,7 +707,7 @@ void DShot::consume_esc_data(const EscData &esc, TelemetrySource source)
} else if (source == TelemetrySource::BDShot) {
_esc_status.esc[motor_index].timestamp = esc.timestamp;
_esc_status.esc[motor_index].esc_rpm = esc.erpm / (_param_mot_pole_count.get() / 2);
_esc_status.esc[motor_index].esc_rpm = esc.erpm / (get_pole_count(motor_index) / 2);
// Only use BDShot Volt/Curr/Temp when Serial Telemetry is disabled
if (!_serial_telemetry_enabled) {
@ -874,6 +874,19 @@ void DShot::handle_esc_request_eeprom(const vehicle_command_s &command)
_command_ack_pub.publish(command_ack);
}
int DShot::get_pole_count(int motor_index)
{
int32_t pole_count = 14;
int num_motors = (int)OutputFunction::MotorMax - ((int)OutputFunction::Motor1 - 1);
if (motor_index >= 0 && motor_index < num_motors) {
param_get(_param_pole_count_handles[motor_index], &pole_count);
}
return pole_count;
}
void DShot::update_params()
{
parameter_update_s pupdate;
@ -893,6 +906,13 @@ void DShot::update_params()
_mixing_output.minValue(i) = DSHOT_MIN_THROTTLE;
}
}
// Update per-motor pole count param handles
for (int i = 0; i < 12; i++) {
char name[20];
snprintf(name, sizeof(name), "DSHOT_MOT_POL%d", i + 1);
_param_pole_count_handles[i] = param_find(name);
}
}
void DShot::mixerChanged()
@ -1052,9 +1072,17 @@ int DShot::print_status()
}
PX4_INFO(" ESC Type: %s (%ld)", esc_type_str, _param_dshot_esc_type.get());
PX4_INFO(" Motor Poles: %ld", _param_mot_pole_count.get());
PX4_INFO(" 3D Mode: %s", _param_dshot_3d_enable.get() ? "Enabled" : "Disabled");
// Per-motor pole counts
PX4_INFO(" Motor Poles:");
for (int i = 0; i < DSHOT_MAXIMUM_CHANNELS; i++) {
if (_motor_mask & (1 << i)) {
PX4_INFO(" Motor %d: %d poles", i + 1, get_pole_count(i));
}
}
// Telemetry Status
if (_bdshot_output_mask || _serial_telemetry_enabled) {
print_spacer();

5
src/drivers/dshot/DShot.h
View File

@ -223,6 +223,10 @@ private:
uint16_t _programming_address{};
uint16_t _programming_value{};
// Per-motor pole count
param_t _param_pole_count_handles[12] {};
int get_pole_count(int motor_index);
// Parameters
DEFINE_PARAMETERS(
(ParamInt<px4::params::DSHOT_ESC_TYPE>) _param_dshot_esc_type,
@ -230,7 +234,6 @@ private:
(ParamBool<px4::params::DSHOT_3D_ENABLE>) _param_dshot_3d_enable,
(ParamInt<px4::params::DSHOT_3D_DEAD_H>) _param_dshot_3d_dead_h,
(ParamInt<px4::params::DSHOT_3D_DEAD_L>) _param_dshot_3d_dead_l,
(ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count,
(ParamBool<px4::params::DSHOT_BIDIR_EDT>) _param_dshot_bidir_edt
)
};

16
src/drivers/dshot/module.yaml
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@ -72,14 +72,18 @@ parameters:
min: 0
max: 1000
default: 1000
MOT_POLE_COUNT: # only used by dshot so far, so keep it under the dshot group
DSHOT_MOT_POL${i}:
description:
short: Number of magnetic poles of the motors
short: Number of magnetic poles of motor ${i}
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).
Number of magnetic poles for motor ${i}.
Required to compute RPM from the eRPM returned by 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
min: 2
max: 400
num_instances: 12
instance_start: 1