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CX_BIT: remove unnecessary warnings before safety disengage #281

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merged 2 commits into from
Dec 30, 2024
Merged

CX_BIT: remove unnecessary warnings before safety disengage #281

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bb548d4
LUA : disable esc telem warnings when safety disengage
Pradeep-Carbonix Dec 30, 2024
d43f34f
autotest: carbonix: add safety switch ESC test
robertlong13 Dec 30, 2024
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15 changes: 15 additions & 0 deletions libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/modules/bit_esc.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -79,6 +79,21 @@ function ESC:esc_is_stopped(i)
end

function ESC:update()
-- When the safety is engaged, the ESCs do not output telemetry
if SRV_Channels:get_safety_state() then
-- Reset all the counters and flags
for i = 1, self.number_of_esc do
self.esc_warmup_end_time[i] = nil
self.srv_prv_telem_ms[i] = 0
self.srv_telem_in_err_status[i] = false
self.srv_rpm_in_err_status[i] = false
self.esc_rpm_nil_counter[i] = 0
self.servo_out_nil_counter[i] = 0
end
return
end

-- check for errors
for i = 1, self.number_of_esc do
local esc_last_telem_data_ms = esc_telem:get_last_telem_data_ms(i-1):toint()
local esc_rpm = esc_telem:get_rpm(i-1)
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