a new kid is in the blocks: the UC4H ESC node
trying to also control the motors via UAVCAN was kind of an obvious thing, albeit a bit of an overkill. However, with UAVCAN one can get in principle also telemetry data from the ESC & motor, and this would be a real additional value. Gladly, the latest KISS or BLHeli ESCs do in fact offer telemetry, so that then paired up with an UC4H ESC node this should be something cool. I further realized that quite some times ago I bought a KISS 24A ESC, which I never used, but now gladly found in my box. So, as a late afternoon exercise, I just started.
Unfortunately, I could not yet convince the ESC to provide the telemetry data. Not sure why, maybe I have to flash a newer firmware, will have to see. However, everything else seems to work: The node digests the esc.RawCommand message at the selected esc index, and broadcasts the esc.Status command. And with a UC4H SLCAN adapter and Pavel's great UAVCAN GuiTool one can test all this quite conveniently. Ah, the motor also turns of course LOL.
As is, it is not yet useful. One probably would want smaller pcbs. Also, it is probably wasted time to continue working with the KISS 24A, a DSHOT capable ESC with telemetry, ideally BLHeli_32 due to the lower price, should make more sense. But I don't have any. And the selections are quite confusing, so I need to do a bit research, I guess. Recommendations?
Anyway, a start has been made, and this is on the way