I have Ardurover 4.6.3 installed on Cube Orange Plus build using 4x VESC (6.06) ESC’s over DroneCAN.
Driving in Manual mode everything is fine, I would like to setup Acro mode for closed-loop throttle & steering control.
The rover motors are brushless e-skate motors with Hall sensors, but no encoders.
EKF
- Is there a way to have EKF ingest ESC Telemetry directly? Is it true WENC_TYPE = 2 (ESC Telemetry) is coming in Rover 4.7? I did install Rover 4.7dev but did not see it there.
RPM Library
- I have RPM1_TYPE = 7 (DroneCAN) and RPM1_ESC_MASK = 15, however Dataflash log shows zero value over time for RPM[0].RPM
- Status window rpm1 also remains zero at all times (believe this is the same variable as RPM[0].RPM)
ESC Telemetry
- Logs show i have valid signed rpm data being published from ESC’s over DroneCAN - ESC[0/1/2/3].RPM all show accurate positive and negative mechanical wheel RPM - therefore should be ready for ingestion into EKF (or RPM Library) if this is possible.
- I did note in MAVLinkInspector → ESC_TELEMETRY_1_TO_4 → rpm appears to be treating the ESC rpm telemetry as UInt16 instead of signed… so, the escx_rpm variables in Status monitoring only show positive values during forwards driving, remain clipped at 0 when driving backwards.
- CAN_D1_UC_ESC_RV is set to 15 to designate all 4x ESC’s as reversible
Any assistance greatly appreciated
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