I am not sure if this is a feature that already exists or not so I am posting here.
I have a vehicle that is operated by solenoids. There are 5 solenoids. Each solenoid can pull up to 3 amps maximum. If I pull more than a total of 10 amps I blow a fuse. When the autopilot is in automatic mode the potential exists for it to command all 5 solenoids and thus to potentially blow a fuse.
Question: I understand there is a slew rate for throttle (MOT_SLEWRATE) and that would help with current spikes but I do not see a “per servo” slew rate. Is that something that could/should be added as a feature?
I also do not see a “per servo” current limiter which, granted, you would need a way to sense the current output on a per solenoid basis. That could be achieved with say, Mauch current/voltage sensors as well as using the BATT_MONITOR parameters (as complicated and expensive as that would be). However I do not see a way for the autopilot to stop commanding “more” if/when a current limit is reached.
Question: Is there a software/firmware way to set a current based limit per servo/solenoid/channel with the current version of rover 4.5.x?