Turtle mode compatibility with non Modalai ESC

Jetson Nano

@Eric-Katzfey So if I built similar driver for on px4 will it cause any errors with existing codes, once i remove the Voxl-esc driver and replace it with the vertiq esc code.

Alex Kushleyev

@Jetson-Nano , it seems that Vertiq has PX4 support, so you should be able to modify their driver to enable the turtle mode. The mode is triggered by checking the RC switch within the voxl-esc driver.

https://iqmotion.readthedocs.io/en/latest/tutorials/ifci_px4_flight_controller.html

If you disable the voxl-esc driver, PX4 should work fine, as long as you correctly update the PX4 parameters to use another ESC type.

Alex

Jetson Nano

@Alex-Kushleyev Thank you for the support.
Also I noticed only the VOXL-FPV-DEV version only have the voxl_esc_t_on option to control the esc through the joystick, The main version of modalai PX4 fork do not have them, is it under development.
The FPV-dev version do not support collision prevention, so i had to roll up to the main version, which gave me this issue.

Alex Kushleyev

@Jetson-Nano , this question is probably for @Eric-Katzfey

Jetson Nano

@Alex-Kushleyev ok thank you, I will wait for @Eric-Katzfey reply

Eric Katzfey

@Jetson-Nano This is a feature that was designed specifically for our FPV drones so that is the only branch that has it supported.

Jetson Nano

@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

Jetson Nano

@Eric-Katzfey hey, if I would like to implement the same in the main px4 fork (modalai) what all would i have to change.

Jetson Nano

@Eric-Katzfey Hey, could you please help me with this issue?

tom

@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

Jetson Nano

@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.