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ESC check cleanup

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This commit is contained in:
Matthias Grob
2026-03-12 18:30:51 +01:00
parent 7aa28de922
commit 7b3fe3478b
3 changed files with 4 additions and 9 deletions
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src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
+3 -6
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@@ -71,8 +71,6 @@ static constexpr const char *esc_fault_reason_str(esc_fault_reason_t esc_fault_r
void EscChecks::checkAndReport(const Context &context, Report &reporter) void EscChecks::checkAndReport(const Context &context, Report &reporter)
{ {
const hrt_abstime now = hrt_absolute_time(); const hrt_abstime now = hrt_absolute_time();
const hrt_abstime esc_init_time = 700_ms; // Some DShot ESCs are unresponsive for ~550ms during their initialization
esc_status_s esc_status; esc_status_s esc_status;
// Run motor status checks even when no new ESC data arrives (to detect timeouts) // Run motor status checks even when no new ESC data arrives (to detect timeouts)
@@ -95,9 +93,9 @@ void EscChecks::checkAndReport(const Context &context, Report &reporter)
_motor_failure_mask = mask; _motor_failure_mask = mask;
reporter.setIsPresent(health_component_t::motors_escs); reporter.setIsPresent(health_component_t::motors_escs);
reporter.failsafeFlags().fd_motor_failure = mask != 0; reporter.failsafeFlags().fd_motor_failure = (mask != 0);
} else if ((_param_com_arm_chk_escs.get() > 0) && now - _start_time > esc_init_time) { // Allow ESCs to init } else if ((_param_com_arm_chk_escs.get() > 0) && now > _start_time + 3_s) { // Allow ESCs to init
/* EVENT /* EVENT
* @description * @description
* <profile name="dev"> * <profile name="dev">
@@ -117,8 +115,7 @@ uint16_t EscChecks::checkEscOnline(const Context &context, Report &reporter, con
{ {
// Check if one or more the ESCs are offline // Check if one or more the ESCs are offline
uint16_t mask = 0; uint16_t mask = 0;
char esc_fail_msg[esc_status_s::CONNECTED_ESC_MAX * 6 + 1] {}; char esc_fail_msg[esc_status_s::CONNECTED_ESC_MAX * 6 + 1] = "";
esc_fail_msg[0] = '\0';
for (int esc_index = 0; esc_index < esc_status_s::CONNECTED_ESC_MAX; esc_index++) { for (int esc_index = 0; esc_index < esc_status_s::CONNECTED_ESC_MAX; esc_index++) {
if (!math::isInRange(esc_status.esc[esc_index].actuator_function, if (!math::isInRange(esc_status.esc[esc_index].actuator_function,
src/modules/commander/failure_detector/FailureDetector.cpp
+1 -1
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@@ -85,7 +85,7 @@ void FailureDetector::publishStatus(bool esc_arm_status, uint16_t motor_failure_
failure_detector_status.fd_arm_escs = esc_arm_status || (motor_failure_mask != 0); failure_detector_status.fd_arm_escs = esc_arm_status || (motor_failure_mask != 0);
failure_detector_status.fd_battery = _failure_detector_status.flags.battery; failure_detector_status.fd_battery = _failure_detector_status.flags.battery;
failure_detector_status.fd_imbalanced_prop = _failure_detector_status.flags.imbalanced_prop; failure_detector_status.fd_imbalanced_prop = _failure_detector_status.flags.imbalanced_prop;
failure_detector_status.fd_motor = (motor_failure_mask != 0) || (_failure_injector.getMotorStopMask() != 0); failure_detector_status.fd_motor = (motor_failure_mask != 0);
failure_detector_status.imbalanced_prop_metric = _imbalanced_prop_lpf.getState(); failure_detector_status.imbalanced_prop_metric = _imbalanced_prop_lpf.getState();
failure_detector_status.motor_failure_mask = motor_failure_mask; failure_detector_status.motor_failure_mask = motor_failure_mask;
failure_detector_status.motor_stop_mask = _failure_injector.getMotorStopMask(); failure_detector_status.motor_stop_mask = _failure_injector.getMotorStopMask();
src/modules/commander/failure_detector/FailureDetector.hpp
-2
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@@ -68,10 +68,8 @@ union failure_detector_status_u {
uint16_t pitch : 1; uint16_t pitch : 1;
uint16_t alt : 1; uint16_t alt : 1;
uint16_t ext : 1; uint16_t ext : 1;
uint16_t arm_escs : 1;
uint16_t battery : 1; uint16_t battery : 1;
uint16_t imbalanced_prop : 1; uint16_t imbalanced_prop : 1;
uint16_t motor : 1;
} flags; } flags;
uint16_t value {0}; uint16_t value {0};
}; };