Feature/cherry pick carbopilt440 #77
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loki077
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ESC_Timeout: Fixes a periph continuing to drive an ESC to an output when the esc_rawcommand packets are lost ARM Timeout: is changed to 2000 as it is now only scanning ARM signal which is arriving at 1Hz Parameters added : ESC timeout: Timeout defaults to 200ms. Timeout can be disabled by setting parameter to 0. Timeout should be configured to be able to handle at small number of missed packets. ARM _Monitoring: dropped to be also cleared at ESC signal received
this allows for testing of a fwd motor or control surfaces while not allowing for VTOL ESCs to run. This makes CAN actuators behave the same as direct PWM actuators
loki077
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this sets up the vwd integrator more reasonably when we are in POSITION1 stage of VTOL landing. We need to have enough throttle to cope with a headwind, but want it lower when we are at or above our target closing speed so can minimise the amount of pitch up This also makes the landing_desired_closing_velocity() consistent with the landing speed used in approach, using average of airspeed min and cruise speed if TECS_LAND_ARSPD is not set The target airspeed for TECS during airbraking is now set to ARSPD_FBW_MIN, on the basis we are trying to slow down to min speed, and we have VTOL support which should prevent a stall. To cope with a high headwind where ARSPD_FBW_MIN is below the headwind we now check for too low achieved closing speed and switch to POSITION1 which can use vfwd to get to the landing location
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Jono453
approved these changes
Nov 21, 2023
robertlong13
approved these changes
Nov 22, 2023
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Other Cherry Picks from Ottano dev
Few more are left but non critical
CAN logging
OV3-463 ESC_STATUS pkt
OV3-461 EFI and ESC Lua implementation