Turtle mode compatibility with non Modalai ESC
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@Jetson-Nano This is a feature that was designed specifically for our FPV drones so that is the only branch that has it supported.
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@Eric-Katzfey Thank you for reverting back, why does collision prevention not working with this px4 version.
The obstacle_distance topic is not showing in any mpc_pos_mod
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@Eric-Katzfey hey, if I would like to implement the same in the main px4 fork (modalai) what all would i have to change.
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@Eric-Katzfey Hey, could you please help me with this issue?
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@Jetson-Nano This is where the logic for turtle mode can be found in the voxl-esc driver: https://github.com/modalai/px4-firmware/blob/voxl-dev/src/drivers/actuators/voxl_esc/voxl_esc.cpp#L330
You'd have to modify px4 to pull this logic into the driver you're using
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@tom I am using the Modalai Main fork of PX4 which already have the turtle mode, I just want the turtle mode to be enabled through joystick.
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@Jetson-Nano It's hard to follow what you are asking. Are you trying to add turtle mode to another ESC driver? Are you trying to get turtle mode working with a joystick and VOXL ESC?
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I am sorry for the confusion , I started the thread for another ESC, that is cleared.
Now I am asking with respect to modal ai FPV ESC.
The issue I am facing now is, the VOXL-FPV-DEV fork of px4 has turtle mode for joystick and button.
The Main fork of the PX4 do not carry this feature.
I would like to incorporate this feature in the Main fork.The reason I switched from fpv-dev to main, was collision prevention error. The VOXL-FPV-DEV do not have collision prevention working properly.
I hope my questions are clear now.
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@Jetson-Nano Okay, well we don't support that right now. If you want to make your own build then you can probably just replace all of the files in the src/drivers/actuators/voxl_esc with the files from the voxl-fpv-dev branch.
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Thank you for reverting back. I am trying to proceed with the same approach.
I am facing some errors while going with this approach , I am trying to debug them.Another approach :-
I am also thinking to hardcode the joystick based turtle mode to the voxl_esc.cpp.
The manual control values will be monitored and once the value of the assigned button is clicked, the turtle mode will be enabled.
Do you think it is a good approach?
