Topics created by hanzichi

@0x45 , each of the 4 ESCs sends back telemetry to PX4 at 1/4 of the update rate of PX4. On voxl2, the PX4 update rate is 800hz, so each ESC channel sends back telemetry at 200hz (round robin fashion). Only one of the four ESC channels actually measures current on the 4-in-1 mini and FPV ESCs, so you will have the current update (and hence the battery status) received at 200hz, but px4 is throttling publishing of battery status to 10hz.

Alex

@hanzichi ,

esc_status in px4 would contain individual current for each ESC and since this is not possible to measure on the mini ESC, the esc_status message does not contain any current measurements. So the total current goes into the Battery Status message.

Please make sure you enable publishing of battery status in the voxl-esc driver here :

param_get(param_find("VOXL_ESC_PUB_BST"), &params->publish_battery_status);

and the status is published here

@Alex-Kushleyev
OK, thanks for the reply. It is actually behaving as expected now. At first it did not seem like the PX4 params were having an effect.

If I have the understanding correct: On the PX4 side, the controller efforts (0-1) are getting spanned to the RPM MIN/MAX params. The RPM (in RPM units) command is then being sent across the UART to the esc.