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dshot: fix EDT request

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This fixes the EDT request for me. Basically, we re-request if an ESC
has gone offline, e.g. power has been briefly disconnected.

Also, it adds a 1s grace period to let the ESC start. Without this, for
me I run into a startup case where my AM32 ESC goes back offline for 1s
if the request happens immediately.
This commit is contained in:
Julian Oes
2026-02-06 16:29:51 +13:00
parent 7b0984584f
commit 7e2361a592
1 changed files with 18 additions and 5 deletions
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src/drivers/dshot/DShot.cpp
+18 -5
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@@ -202,11 +202,18 @@ void DShot::select_next_command()
// EDT Request: use motor-order masks since needs_edt_request_mask is in motor order
uint8_t edt_motors_to_request = _bdshot_motor_mask & needs_edt_request_mask;
if (_bdshot_edt_enabled && edt_motors_to_request) {
// Find first motor that needs EDT request
if (_bdshot_edt_enabled && edt_motors_to_request != 0) {
// Find first motor that needs EDT request and has been online long enough
hrt_abstime now = hrt_absolute_time();
for (int motor_index = 0; motor_index < DSHOT_MAXIMUM_CHANNELS; motor_index++) {
if (edt_motors_to_request & (1 << motor_index)) {
auto now = hrt_absolute_time();
// Wait 1 second after ESC comes online before sending EDT (ESC init sequence)
if (_bdshot_telem_online_timestamps[motor_index] == 0
|| (now - _bdshot_telem_online_timestamps[motor_index]) < 1_s) {
continue;
}
_current_command.num_repetitions = 10;
_current_command.command = DSHOT_EXTENDED_TELEMETRY_ENABLE;
_current_command.motor_mask = (1 << motor_index);
@@ -382,7 +389,6 @@ void DShot::update_motor_commands(int num_outputs)
_telemetry.setExpectCommandResponse(motor_index, _current_command.command);
}
// PX4_INFO("Writing: ESC%d, value: %u", motor_index + 1, _current_command.command);
command = _current_command.command;
command_sent = true;
}
@@ -595,6 +601,12 @@ bool DShot::process_bdshot_telemetry()
_bdshot_telem_errors[output_channel] = up_bdshot_num_errors(output_channel);
if (up_bdshot_channel_online(output_channel)) {
// Record when this motor first came online
if (!(_bdshot_telem_online_mask & (1 << motor_index))) {
_bdshot_telem_online_timestamps[motor_index] = now;
}
// Online mask is in motor order for command/request logic
_bdshot_telem_online_mask |= (1 << motor_index);
@@ -638,7 +650,8 @@ bool DShot::process_bdshot_telemetry()
} else {
_bdshot_telem_online_mask &= ~(1 << motor_index);
// _bdshot_edt_requested_mask &= ~(1 << motor_index); // re-triggers EDT request when it comes back online
_bdshot_telem_online_timestamps[motor_index] = 0;
_bdshot_edt_requested_mask &= ~(1 << motor_index);
perf_count(_bdshot_error_perf);
}